class CarInterface(object):
def __init__(self, CP, sendcan=None):
self.CP = CP
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.can_invalid_count = 0
self.acc_active_prev = 0
# *** init the major players ***
canbus = CanBus()
self.CS = CarState(CP, canbus)
self.VM = VehicleModel(CP)
self.pt_cp = get_powertrain_can_parser(CP, canbus)
self.ch_cp_dbc_name = DBC[CP.carFingerprint]['chassis']
# sending if read only is False
if sendcan is not None:
self.sendcan = sendcan
self.CC = CarController(canbus, CP.carFingerprint, CP.enableCamera)
@staticmethod
def compute_gb(accel, speed):
return float(accel) / 4.0
@staticmethod
def calc_accel_override(a_ego, a_target, v_ego, v_target):
return 1.0
@staticmethod
def get_params(candidate, fingerprint):
ret = car.CarParams.new_message()
ret.carName = "gm"
ret.carFingerprint = candidate
ret.enableCruise = False
# Presence of a camera on the object bus is ok.
# Have to go passive if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint)
std_cargo = 136
if candidate == CAR.VOLT:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
# kg of standard extra cargo to count for drive, gas, etc...
ret.mass = 1607 + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.wheelbase = 2.69
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
ret.minEnableSpeed = -1
# kg of standard extra cargo to count for drive, gas, etc...
ret.mass = 4016. * CV.LB_TO_KG + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.cadillac
ret.wheelbase = 3.11
ret.steerRatio = 14.6 # it's 16.3 without rear active steering
ret.steerRatioRear = 0. # TODO: there is RAS on this car!
ret.centerToFront = ret.wheelbase * 0.465
# hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923. * CV.LB_TO_KG + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 85400
tireStiffnessRear_civic = 90000
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
# 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 = tireStiffnessFront_civic * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = tireStiffnessRear_civic * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
# same tuning for Volt and CT6 for now
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerKpV, ret.steerKiV = [[0.2], [0.00]]
ret.steerKf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
ret.gasMaxBP = [0.]
ret.gasMaxV = [.5]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.longPidDeadzoneBP = [0.]
ret.longPidDeadzoneV = [0.]
ret.longitudinalKpBP = [5., 35.]
ret.longitudinalKpV = [2.4, 1.5]
ret.longitudinalKiBP = [0.]
ret.longitudinalKiV = [0.36]
ret.steerLimitAlert = True
ret.stoppingControl = True
ret.startAccel = 0.8
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerRateCost = 1.0
ret.steerControlType = car.CarParams.SteerControlType.torque
return ret
# returns a car.CarState
def update(self, c):
self.pt_cp.update(int(sec_since_boot() * 1e9), False)
self.CS.update(self.pt_cp)
# create message
ret = car.CarState.new_message()
# speeds
ret.vEgo = self.CS.v_ego
ret.aEgo = self.CS.a_ego
ret.vEgoRaw = self.CS.v_ego_raw
ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego)
ret.standstill = self.CS.standstill
ret.wheelSpeeds.fl = self.CS.v_wheel_fl
ret.wheelSpeeds.fr = self.CS.v_wheel_fr
ret.wheelSpeeds.rl = self.CS.v_wheel_rl
ret.wheelSpeeds.rr = self.CS.v_wheel_rr
# gas pedal information.
ret.gas = self.CS.pedal_gas / 254.0
ret.gasPressed = self.CS.user_gas_pressed
# brake pedal
ret.brake = self.CS.user_brake / 0xd0
ret.brakePressed = self.CS.brake_pressed
# steering wheel
ret.steeringAngle = self.CS.angle_steers
# torque and user override. Driver awareness
# timer resets when the user uses the steering wheel.
ret.steeringPressed = self.CS.steer_override
ret.steeringTorque = self.CS.steer_torque_driver
# cruise state
ret.cruiseState.available = bool(self.CS.main_on)
cruiseEnabled = self.CS.pcm_acc_status != 0
ret.cruiseState.enabled = cruiseEnabled
ret.cruiseState.standstill = self.CS.pcm_acc_status == 4
ret.leftBlinker = self.CS.left_blinker_on
ret.rightBlinker = self.CS.right_blinker_on
ret.doorOpen = not self.CS.door_all_closed
ret.seatbeltUnlatched = not self.CS.seatbelt
ret.gearShifter = self.CS.gear_shifter
buttonEvents = []
# blinkers
if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'leftBlinker'
be.pressed = self.CS.left_blinker_on
buttonEvents.append(be)
if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'rightBlinker'
be.pressed = self.CS.right_blinker_on
buttonEvents.append(be)
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
be = car.CarState.ButtonEvent.new_message()
be.type = 'unknown'
if self.CS.cruise_buttons != CruiseButtons.UNPRESS:
be.pressed = True
but = self.CS.cruise_buttons
else:
be.pressed = False
but = self.CS.prev_cruise_buttons
if but == CruiseButtons.RES_ACCEL:
if not (cruiseEnabled and self.CS.standstill):
be.type = 'accelCruise' # Suppress resume button if we're resuming from stop so we don't adjust speed.
elif but == CruiseButtons.DECEL_SET:
be.type = 'decelCruise'
elif but == CruiseButtons.CANCEL:
be.type = 'cancel'
elif but == CruiseButtons.MAIN:
be.type = 'altButton3'
buttonEvents.append(be)
ret.buttonEvents = buttonEvents
events = []
if not self.CS.can_valid:
self.can_invalid_count += 1
if self.can_invalid_count >= 5:
events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
else:
self.can_invalid_count = 0
if self.CS.steer_error:
events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if self.CS.steer_not_allowed:
events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
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 self.CS.car_fingerprint == CAR.VOLT:
if self.CS.brake_error:
events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if not self.CS.gear_shifter_valid:
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled:
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not self.CS.main_on:
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if self.CS.gear_shifter == 3:
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if ret.vEgo < self.CP.minEnableSpeed:
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
if self.CS.park_brake:
events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
# disable on pedals rising edge or when brake is pressed and speed isn't zero
if (ret.gasPressed and not self.gas_pressed_prev) or \
(ret.brakePressed): # and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gasPressed:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
if ret.cruiseState.standstill:
events.append(create_event('resumeRequired', [ET.WARNING]))
# handle button presses
for b in ret.buttonEvents:
# do enable on both accel and decel buttons
if b.type in ["accelCruise", "decelCruise"] and not b.pressed:
events.append(create_event('buttonEnable', [ET.ENABLE]))
# do disable on button down
if b.type == "cancel" and b.pressed:
events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
if self.CS.car_fingerprint == CAR.CADILLAC_CT6:
if self.CS.acc_active and not self.acc_active_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
if not self.CS.acc_active:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
ret.events = events
# update previous brake/gas pressed
self.acc_active_prev = self.CS.acc_active
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
# cast to reader so it can't be modified
return ret.as_reader()
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c, perception_state=log.Live20Data.new_message()):
hud_v_cruise = c.hudControl.setSpeed
if hud_v_cruise > 70:
hud_v_cruise = 0
chime, chime_count = {
"none": (0, 0),
"beepSingle": (CM.HIGH_CHIME, 1),
"beepTriple": (CM.HIGH_CHIME, 3),
"beepRepeated": (CM.LOW_CHIME, -1),
"chimeSingle": (CM.LOW_CHIME, 1),
"chimeDouble": (CM.LOW_CHIME, 2),
"chimeRepeated": (CM.LOW_CHIME, -1),
"chimeContinuous": (CM.LOW_CHIME, -1)}[str(c.hudControl.audibleAlert)]
# For Openpilot, "enabled" includes pre-enable.
# In GM, PCM faults out if ACC command overlaps user gas.
enabled = c.enabled and not self.CS.user_gas_pressed
self.CC.update(self.sendcan, enabled, self.CS, self.frame, \
c.actuators,
hud_v_cruise, c.hudControl.lanesVisible, \
c.hudControl.leadVisible, \
chime, chime_count)
self.frame += 1
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController):
self.CP = CP
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.acc_active_prev = 0
# *** init the major players ***
canbus = CanBus()
self.CS = CarState(CP, canbus)
self.VM = VehicleModel(CP)
self.pt_cp = get_powertrain_can_parser(CP, canbus)
self.ch_cp = get_chassis_can_parser(CP, canbus)
self.ch_cp_dbc_name = DBC[CP.carFingerprint]['chassis']
self.CC = None
if CarController is not None:
self.CC = CarController(canbus, CP.carFingerprint)
@staticmethod
def compute_gb(accel, speed):
# Ripped from compute_gb_honda in Honda's interface.py. Works well off shelf but may need more tuning
creep_brake = 0.0
creep_speed = 2.68
creep_brake_value = 0.10
if speed < creep_speed:
creep_brake = (creep_speed -
speed) / creep_speed * creep_brake_value
return float(accel) / 4.8 - creep_brake
@staticmethod
def calc_accel_override(a_ego, a_target, v_ego, v_target):
# normalized max accel. Allowing max accel at low speed causes speed overshoots
max_accel_bp = [10, 20] # m/s
max_accel_v = [0.85, 1.0] # unit of max accel
max_accel = interp(v_ego, max_accel_bp, max_accel_v)
# limit the pcm accel cmd if:
# - v_ego exceeds v_target, or
# - a_ego exceeds a_target and v_ego is close to v_target
eA = a_ego - a_target
valuesA = [1.0, 0.1]
bpA = [0.3, 1.1]
eV = v_ego - v_target
valuesV = [1.0, 0.1]
bpV = [0.0, 0.5]
valuesRangeV = [1., 0.]
bpRangeV = [-1., 0.]
# only limit if v_ego is close to v_target
speedLimiter = interp(eV, bpV, valuesV)
accelLimiter = max(interp(eA, bpA, valuesA),
interp(eV, bpRangeV, valuesRangeV))
# accelOverride is more or less the max throttle allowed to pcm: usually set to a constant
# unless aTargetMax is very high and then we scale with it; this help in quicker restart
return float(max(max_accel, a_target / FOLLOW_AGGRESSION)) * min(
speedLimiter, accelLimiter)
@staticmethod
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
vin="",
has_relay=False):
ret = car.CarParams.new_message()
ret.carName = "gm"
ret.carFingerprint = candidate
ret.carVin = vin
ret.isPandaBlack = has_relay
ret.enableCruise = False
# GM port is considered a community feature, since it disables AEB;
# TODO: make a port that uses a car harness and it only intercepts the camera
ret.communityFeature = True
# Presence of a camera on the object bus is ok.
# Have to go to read_only if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or \
has_relay or \
candidate == CAR.CADILLAC_CT6
ret.openpilotLongitudinalControl = ret.enableCamera
tire_stiffness_factor = 0.444 # not optimized yet
# same tuning for Volt and CT6 for now
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerRateCost = 1.0
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
if candidate == CAR.VOLT:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 8 * CV.MPH_TO_MS
ret.mass = 1607. + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.69
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.MALIBU:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1496. + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.83
ret.steerRatio = 15.8
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363. + STD_CARGO_KG
ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.86
ret.steerRatio = 14.4 #end to end is 13.46
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.BUICK_REGAL:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.83 #111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1601. + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.49
elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
ret.minEnableSpeed = -1.
ret.mass = 4016. * CV.LB_TO_KG + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.cadillac
ret.wheelbase = 3.11
ret.steerRatio = 14.6 # it's 16.3 without rear active steering
ret.steerRatioRear = 0. # TODO: there is RAS on this car!
ret.centerToFront = ret.wheelbase * 0.465
# 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)
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.36]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.stoppingControl = True
ret.startAccel = 0.8
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
ret.steerControlType = car.CarParams.SteerControlType.torque
return ret
# returns a car.CarState
def update(self, c, can_strings):
self.pt_cp.update_strings(can_strings)
self.ch_cp.update_strings(can_strings)
self.CS.update(self.pt_cp, self.ch_cp)
# create message
ret = car.CarState.new_message()
ret.canValid = self.pt_cp.can_valid
# speeds
ret.vEgo = self.CS.v_ego
ret.aEgo = self.CS.a_ego
ret.vEgoRaw = self.CS.v_ego_raw
ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD,
self.CS.v_ego)
ret.standstill = self.CS.standstill
ret.wheelSpeeds.fl = self.CS.v_wheel_fl
ret.wheelSpeeds.fr = self.CS.v_wheel_fr
ret.wheelSpeeds.rl = self.CS.v_wheel_rl
ret.wheelSpeeds.rr = self.CS.v_wheel_rr
# gas pedal information.
ret.gas = self.CS.pedal_gas / 254.0
ret.gasPressed = self.CS.user_gas_pressed
# brake pedal
ret.brake = self.CS.user_brake / 0xd0
ret.brakePressed = self.CS.brake_pressed
ret.brakeLights = self.CS.frictionBrakesActive
# steering wheel
ret.steeringAngle = self.CS.angle_steers
# torque and user override. Driver awareness
# timer resets when the user uses the steering wheel.
ret.steeringPressed = self.CS.steer_override
ret.steeringTorque = self.CS.steer_torque_driver
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
# cruise state
ret.cruiseState.available = bool(self.CS.main_on)
cruiseEnabled = self.CS.pcm_acc_status != AccState.OFF
ret.cruiseState.enabled = cruiseEnabled
ret.cruiseState.standstill = False
ret.leftBlinker = self.CS.left_blinker_on
ret.rightBlinker = self.CS.right_blinker_on
ret.doorOpen = not self.CS.door_all_closed
ret.seatbeltUnlatched = not self.CS.seatbelt
ret.gearShifter = self.CS.gear_shifter
ret.readdistancelines = self.CS.follow_level
buttonEvents = []
# blinkers
if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = ButtonType.leftBlinker
be.pressed = self.CS.left_blinker_on
buttonEvents.append(be)
if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = ButtonType.rightBlinker
be.pressed = self.CS.right_blinker_on
buttonEvents.append(be)
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
be = car.CarState.ButtonEvent.new_message()
be.type = ButtonType.unknown
if self.CS.cruise_buttons != CruiseButtons.UNPRESS:
be.pressed = True
but = self.CS.cruise_buttons
else:
be.pressed = False
but = self.CS.prev_cruise_buttons
if but == CruiseButtons.RES_ACCEL:
if not (cruiseEnabled and self.CS.standstill):
be.type = ButtonType.accelCruise # Suppress resume button if we're resuming from stop so we don't adjust speed.
elif but == CruiseButtons.DECEL_SET:
if not cruiseEnabled and not self.CS.lkMode:
self.lkMode = True
be.type = ButtonType.decelCruise
elif but == CruiseButtons.CANCEL:
be.type = ButtonType.cancel
elif but == CruiseButtons.MAIN:
be.type = ButtonType.altButton3
buttonEvents.append(be)
ret.buttonEvents = buttonEvents
if cruiseEnabled and self.CS.lka_button and self.CS.lka_button != self.CS.prev_lka_button:
self.CS.lkMode = not self.CS.lkMode
if self.CS.distance_button and self.CS.distance_button != self.CS.prev_distance_button:
self.CS.follow_level -= 1
if self.CS.follow_level < 1:
self.CS.follow_level = 3
events = []
if not self.CS.lkMode:
events.append(create_event('manualSteeringRequired', [ET.WARNING]))
#if cruiseEnabled and (self.CS.left_blinker_on or self.CS.right_blinker_on):
# events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
if self.CS.steer_error:
events.append(
create_event(
'steerUnavailable',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if self.CS.steer_not_allowed:
events.append(
create_event('steerTempUnavailable',
[ET.NO_ENTRY, ET.WARNING]))
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 self.CS.car_fingerprint in SUPERCRUISE_CARS:
if self.CS.acc_active and not self.acc_active_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
if not self.CS.acc_active:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
else:
if self.CS.brake_error:
events.append(
create_event(
'brakeUnavailable',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if not self.CS.gear_shifter_valid:
events.append(
create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled:
events.append(
create_event('espDisabled',
[ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not self.CS.main_on:
events.append(
create_event('wrongCarMode',
[ET.NO_ENTRY, ET.USER_DISABLE]))
if self.CS.gear_shifter == 3:
events.append(
create_event('reverseGear',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if ret.vEgo < self.CP.minEnableSpeed:
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
if self.CS.park_brake:
events.append(
create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
# disable on pedals rising edge or when brake is pressed and speed isn't zero
if (ret.gasPressed and not self.gas_pressed_prev) or \
(ret.brakePressed): # and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
events.append(
create_event('pedalPressed',
[ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gasPressed:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
if ret.cruiseState.standstill:
events.append(create_event('resumeRequired', [ET.WARNING]))
if self.CS.pcm_acc_status == AccState.FAULTED:
events.append(
create_event('controlsFailed',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
# handle button presses
for b in ret.buttonEvents:
# do enable on both accel and decel buttons
# The ECM will fault if resume triggers an enable while speed is set to 0
if b.type == ButtonType.accelCruise and c.hudControl.setSpeed > 0 and c.hudControl.setSpeed < 70 and not b.pressed:
events.append(create_event('buttonEnable', [ET.ENABLE]))
if b.type == ButtonType.decelCruise and not b.pressed:
events.append(create_event('buttonEnable', [ET.ENABLE]))
# do disable on button down
if b.type == ButtonType.cancel and b.pressed:
events.append(
create_event('buttonCancel', [ET.USER_DISABLE]))
# The ECM independently tracks a ‘speed is set’ state that is reset on main off.
# To keep controlsd in sync with the ECM state, generate a RESET_V_CRUISE event on main cruise presses.
if b.type == ButtonType.altButton3 and b.pressed:
events.append(
create_event('buttonCancel',
[ET.RESET_V_CRUISE, ET.USER_DISABLE]))
ret.events = events
# update previous brake/gas pressed
self.acc_active_prev = self.CS.acc_active
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
# cast to reader so it can't be modified
return ret.as_reader()
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c):
hud_v_cruise = c.hudControl.setSpeed
if hud_v_cruise > 70:
hud_v_cruise = 0
# For Openpilot, "enabled" includes pre-enable.
# In GM, PCM faults out if ACC command overlaps user gas.
enabled = c.enabled and not self.CS.user_gas_pressed
can_sends = self.CC.update(enabled, self.CS, self.frame, \
c.actuators,
hud_v_cruise, c.hudControl.lanesVisible, \
c.hudControl.leadVisible, c.hudControl.visualAlert)
self.frame += 1
return can_sends
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController):
self.CP = CP
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.acc_active_prev = 0
# *** init the major players ***
canbus = CanBus()
self.CS = CarState(CP)
self.VM = VehicleModel(CP)
self.pt_cp = get_powertrain_can_parser(CP, canbus)
self.ch_cp_dbc_name = DBC[CP.carFingerprint]['chassis']
self.CC = None
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.carName = "gm"
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret.enableCruise = False
# GM port is considered a community feature, since it disables AEB;
# TODO: make a port that uses a car harness and it only intercepts the camera
ret.communityFeature = True
# Presence of a camera on the object bus is ok.
# Have to go to read_only if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or \
has_relay or \
candidate == CAR.CADILLAC_CT6
ret.openpilotLongitudinalControl = ret.enableCamera
tire_stiffness_factor = 0.444 # not optimized yet
# Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerRateCost = 1.0
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
if candidate == CAR.VOLT:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1607. + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.69
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.MALIBU:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1496. + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.83
ret.steerRatio = 15.8
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363. + STD_CARGO_KG
ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.86
ret.steerRatio = 14.4 #end to end is 13.46
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.BUICK_REGAL:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.83 #111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1601. + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.49
elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
ret.minEnableSpeed = -1.
ret.mass = 4016. * CV.LB_TO_KG + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.cadillac
ret.wheelbase = 3.11
ret.steerRatio = 14.6 # it's 16.3 without rear active steering
ret.steerRatioRear = 0. # TODO: there is RAS on this car!
ret.centerToFront = ret.wheelbase * 0.465
# 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)
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
ret.gasMaxBP = [0.]
ret.gasMaxV = [.5]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.36]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.stoppingControl = True
ret.startAccel = 0.8
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
ret.steerControlType = car.CarParams.SteerControlType.torque
return ret
# returns a car.CarState
def update(self, c, can_strings):
self.pt_cp.update_strings(can_strings)
ret = self.CS.update(self.pt_cp)
ret.canValid = self.pt_cp.can_valid
ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD,
ret.vEgo)
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
buttonEvents = []
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
be = car.CarState.ButtonEvent.new_message()
be.type = ButtonType.unknown
if self.CS.cruise_buttons != CruiseButtons.UNPRESS:
be.pressed = True
but = self.CS.cruise_buttons
else:
be.pressed = False
but = self.CS.prev_cruise_buttons
if but == CruiseButtons.RES_ACCEL:
if not (ret.cruiseState.enabled and ret.standstill):
be.type = ButtonType.accelCruise # Suppress resume button if we're resuming from stop so we don't adjust speed.
elif but == CruiseButtons.DECEL_SET:
be.type = ButtonType.decelCruise
elif but == CruiseButtons.CANCEL:
be.type = ButtonType.cancel
elif but == CruiseButtons.MAIN:
be.type = ButtonType.altButton3
buttonEvents.append(be)
ret.buttonEvents = buttonEvents
events = []
if self.CS.steer_not_allowed:
events.append(
create_event('steerTempUnavailable',
[ET.NO_ENTRY, ET.WARNING]))
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 self.CS.car_fingerprint in SUPERCRUISE_CARS:
if self.CS.acc_active and not self.acc_active_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
if not self.CS.acc_active:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
else:
if ret.gearShifter != car.CarState.GearShifter.drive:
events.append(
create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled:
events.append(
create_event('espDisabled',
[ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not ret.cruiseState.available:
events.append(
create_event('wrongCarMode',
[ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == car.CarState.GearShifter.reverse:
events.append(
create_event('reverseGear',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if ret.vEgo < self.CP.minEnableSpeed:
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
if self.CS.park_brake:
events.append(
create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
# disable on pedals rising edge or when brake is pressed and speed isn't zero
if (ret.gasPressed and not self.gas_pressed_prev) or \
(ret.brakePressed): # and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
events.append(
create_event('pedalPressed',
[ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gasPressed:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
if ret.cruiseState.standstill:
events.append(create_event('resumeRequired', [ET.WARNING]))
if self.CS.pcm_acc_status == AccState.FAULTED:
events.append(
create_event('controlsFailed',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
# handle button presses
for b in ret.buttonEvents:
# do enable on both accel and decel buttons
if b.type in [ButtonType.accelCruise, ButtonType.decelCruise
] and not b.pressed:
events.append(create_event('buttonEnable', [ET.ENABLE]))
# do disable on button down
if b.type == ButtonType.cancel and b.pressed:
events.append(
create_event('buttonCancel', [ET.USER_DISABLE]))
ret.events = events
# update previous brake/gas pressed
self.acc_active_prev = self.CS.acc_active
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
# copy back carState packet to CS
self.CS.out = ret.as_reader()
return self.CS.out
def apply(self, c):
hud_v_cruise = c.hudControl.setSpeed
if hud_v_cruise > 70:
hud_v_cruise = 0
# For Openpilot, "enabled" includes pre-enable.
# In GM, PCM faults out if ACC command overlaps user gas.
enabled = c.enabled and not self.CS.out.gasPressed
can_sends = self.CC.update(enabled, self.CS, self.frame, \
c.actuators,
hud_v_cruise, c.hudControl.lanesVisible, \
c.hudControl.leadVisible, c.hudControl.visualAlert)
self.frame += 1
return can_sends
class CarInterface(object):
def __init__(self, CP, CarController):
self.CP = CP
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.acc_active_prev = 0
# *** init the major players ***
canbus = CanBus()
self.CS = CarState(CP, canbus)
self.VM = VehicleModel(CP)
self.pt_cp = get_powertrain_can_parser(CP, canbus)
self.ch_cp_dbc_name = DBC[CP.carFingerprint]['chassis']
self.CC = None
if CarController is not None:
self.CC = CarController(canbus, CP.carFingerprint)
@staticmethod
def compute_gb(accel, speed):
return float(accel) / 4.0
@staticmethod
def calc_accel_override(a_ego, a_target, v_ego, v_target):
return 1.0
@staticmethod
def get_params(candidate, fingerprint, vin="", is_panda_black=False):
ret = car.CarParams.new_message()
ret.carName = "gm"
ret.carFingerprint = candidate
ret.carVin = vin
ret.isPandaBlack = is_panda_black
ret.enableCruise = False
# Presence of a camera on the object bus is ok.
# Have to go to read_only if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate]
if x in fingerprint) or is_panda_black
ret.openpilotLongitudinalControl = ret.enableCamera
ret.lateralTuning.pid.dampTime = 0.0
ret.lateralTuning.pid.reactMPC = 0.025
ret.lateralTuning.pid.dampMPC = 0.1
ret.lateralTuning.pid.rateFFGain = 0.4
ret.lateralTuning.pid.polyFactor = 0.005
ret.lateralTuning.pid.polyDampTime = 0.15
ret.lateralTuning.pid.polyReactTime = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.01]]
ret.lateralTuning.pid.kf = 0.000035 # full torque for 20 deg at 80mph means 0.00007818594
tire_stiffness_factor = 0.444 # not optimized yet
if candidate == CAR.VOLT:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1607. + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.69
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.MALIBU:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1496. + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.83
ret.steerRatio = 15.8
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363. + STD_CARGO_KG
ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.86
ret.steerRatio = 14.4 #end to end is 13.46
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.BUICK_REGAL:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.83 #111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1601. + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.49
elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
ret.minEnableSpeed = -1.
ret.mass = 4016. * CV.LB_TO_KG + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.cadillac
ret.wheelbase = 3.11
ret.steerRatio = 14.6 # it's 16.3 without rear active steering
ret.steerRatioRear = 0. # TODO: there is RAS on this car!
ret.centerToFront = ret.wheelbase * 0.465
# 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)
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
ret.gasMaxBP = [0.]
ret.gasMaxV = [.5]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.36]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.steerLimitAlert = True
ret.stoppingControl = True
ret.startAccel = 0.8
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerRateCost = 1.0
ret.steerControlType = car.CarParams.SteerControlType.torque
return ret
# returns a car.CarState
def update(self, c, can_strings):
self.pt_cp.update_strings(int(sec_since_boot() * 1e9), can_strings)
self.CS.update(self.pt_cp)
# create message
ret = car.CarState.new_message()
ret.canValid = self.pt_cp.can_valid
# speeds
ret.vEgo = self.CS.v_ego
ret.aEgo = self.CS.a_ego
ret.vEgoRaw = self.CS.v_ego_raw
ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD,
self.CS.v_ego)
ret.standstill = self.CS.standstill
ret.wheelSpeeds.fl = self.CS.v_wheel_fl
ret.wheelSpeeds.fr = self.CS.v_wheel_fr
ret.wheelSpeeds.rl = self.CS.v_wheel_rl
ret.wheelSpeeds.rr = self.CS.v_wheel_rr
# gas pedal information.
ret.gas = self.CS.pedal_gas / 254.0
ret.gasPressed = self.CS.user_gas_pressed
# brake pedal
ret.brake = self.CS.user_brake / 0xd0
ret.brakePressed = self.CS.brake_pressed
# steering wheel
ret.steeringAngle = self.CS.angle_steers
# torque and user override. Driver awareness
# timer resets when the user uses the steering wheel.
ret.steeringPressed = self.CS.steer_override
ret.steeringTorque = self.CS.steer_torque_driver
# cruise state
ret.cruiseState.available = bool(self.CS.main_on)
cruiseEnabled = self.CS.pcm_acc_status != AccState.OFF
ret.cruiseState.enabled = cruiseEnabled
ret.cruiseState.standstill = self.CS.pcm_acc_status == 4
ret.leftBlinker = self.CS.left_blinker_on
ret.rightBlinker = self.CS.right_blinker_on
ret.doorOpen = not self.CS.door_all_closed
ret.seatbeltUnlatched = not self.CS.seatbelt
ret.gearShifter = self.CS.gear_shifter
buttonEvents = []
# blinkers
if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'leftBlinker'
be.pressed = self.CS.left_blinker_on
buttonEvents.append(be)
if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'rightBlinker'
be.pressed = self.CS.right_blinker_on
buttonEvents.append(be)
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
be = car.CarState.ButtonEvent.new_message()
be.type = 'unknown'
if self.CS.cruise_buttons != CruiseButtons.UNPRESS:
be.pressed = True
but = self.CS.cruise_buttons
else:
be.pressed = False
but = self.CS.prev_cruise_buttons
if but == CruiseButtons.RES_ACCEL:
if not (cruiseEnabled and self.CS.standstill):
be.type = 'accelCruise' # Suppress resume button if we're resuming from stop so we don't adjust speed.
elif but == CruiseButtons.DECEL_SET:
be.type = 'decelCruise'
elif but == CruiseButtons.CANCEL:
be.type = 'cancel'
elif but == CruiseButtons.MAIN:
be.type = 'altButton3'
buttonEvents.append(be)
ret.buttonEvents = buttonEvents
events = []
if self.CS.steer_error:
events.append(
create_event(
'steerUnavailable',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if self.CS.steer_not_allowed:
events.append(
create_event('steerTempUnavailable',
[ET.NO_ENTRY, ET.WARNING]))
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 self.CS.car_fingerprint in SUPERCRUISE_CARS:
if self.CS.acc_active and not self.acc_active_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
if not self.CS.acc_active:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
else:
if self.CS.brake_error:
events.append(
create_event(
'brakeUnavailable',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if not self.CS.gear_shifter_valid:
events.append(
create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled:
events.append(
create_event('espDisabled',
[ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not self.CS.main_on:
events.append(
create_event('wrongCarMode',
[ET.NO_ENTRY, ET.USER_DISABLE]))
if self.CS.gear_shifter == 3:
events.append(
create_event('reverseGear',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if ret.vEgo < self.CP.minEnableSpeed:
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
if self.CS.park_brake:
events.append(
create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
# disable on pedals rising edge or when brake is pressed and speed isn't zero
if (ret.gasPressed and not self.gas_pressed_prev) or \
(ret.brakePressed): # and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
events.append(
create_event('pedalPressed',
[ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gasPressed:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
if ret.cruiseState.standstill:
events.append(create_event('resumeRequired', [ET.WARNING]))
if self.CS.pcm_acc_status == AccState.FAULTED:
events.append(
create_event('controlsFailed',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
# handle button presses
for b in ret.buttonEvents:
# do enable on both accel and decel buttons
if b.type in ["accelCruise", "decelCruise"] and not b.pressed:
events.append(create_event('buttonEnable', [ET.ENABLE]))
# do disable on button down
if b.type == "cancel" and b.pressed:
events.append(
create_event('buttonCancel', [ET.USER_DISABLE]))
ret.events = events
# update previous brake/gas pressed
self.acc_active_prev = self.CS.acc_active
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
# cast to reader so it can't be modified
return ret.as_reader()
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c):
hud_v_cruise = c.hudControl.setSpeed
if hud_v_cruise > 70:
hud_v_cruise = 0
chime, chime_count = AUDIO_HUD[c.hudControl.audibleAlert.raw]
# For Openpilot, "enabled" includes pre-enable.
# In GM, PCM faults out if ACC command overlaps user gas.
enabled = c.enabled and not self.CS.user_gas_pressed
can_sends = self.CC.update(enabled, self.CS, self.frame, \
c.actuators,
hud_v_cruise, c.hudControl.lanesVisible, \
c.hudControl.leadVisible, \
chime, chime_count, c.hudControl.visualAlert)
self.frame += 1
return can_sends
class CarInterface(object):
def __init__(self, CP, sendcan=None):
self.angleSteersoffset = float(
kegman.conf['angle_steers_offset']) # deg offset
self.CP = CP
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.can_invalid_count = 0
self.acc_active_prev = 0
self.cruise_enabled_prev = False
# *** init the major players ***
canbus = CanBus()
self.CS = CarState(CP, canbus)
self.VM = VehicleModel(CP)
self.pt_cp = get_powertrain_can_parser(CP, canbus)
self.ch_cp = get_chassis_can_parser(CP, canbus)
self.ch_cp_dbc_name = DBC[CP.carFingerprint]['chassis']
# sending if read only is False
if sendcan is not None:
self.sendcan = sendcan
self.CC = CarController(canbus, CP.carFingerprint, CP.enableCamera)
@staticmethod
def compute_gb(accel, speed):
# Ripped from compute_gb_honda in Honda's interface.py. Works well off shelf but may need more tuning
creep_brake = 0.0
creep_speed = 2.68
creep_brake_value = 0.10
if speed < creep_speed:
creep_brake = (creep_speed -
speed) / creep_speed * creep_brake_value
return float(accel) / 4.8 - creep_brake
@staticmethod
def calc_accel_override(a_ego, a_target, v_ego, v_target):
return 1.0
@staticmethod
def get_params(candidate, fingerprint):
ret = car.CarParams.new_message()
ret.carName = "gm"
ret.carFingerprint = candidate
ret.enableCruise = False
# Presence of a camera on the object bus is ok.
# Have to go passive if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = not any(
x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint)
ret.openpilotLongitudinalControl = ret.enableCamera
std_cargo = 136
if candidate == CAR.VOLT:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 7 * CV.MPH_TO_MS
# kg of standard extra cargo to count for driver, gas, etc...
ret.mass = 1607. + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.wheelbase = 2.69
ret.steerRatio = 16.17 #0.5.10
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.MALIBU:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 7 * CV.MPH_TO_MS
ret.mass = 1496 + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.wheelbase = 2.83
ret.steerRatio = 15.8
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA:
# kg of standard extra cargo to count for driver, gas, etc...
ret.mass = 1363. + std_cargo
ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.steerRatio = 15.75 #0.5.10
ret.steerRatioRear = 0.
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.wheelbase = 2.86
ret.steerRatio = 14.4 #end to end is 13.46
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.BUICK_REGAL:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 3779. * CV.LB_TO_KG + std_cargo # (3849+3708)/2
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.wheelbase = 2.83 #111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1601. + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.49
elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
ret.minEnableSpeed = -1.
# kg of standard extra cargo to count for driver, gas, etc...
ret.mass = 4016. * CV.LB_TO_KG + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.cadillac
ret.wheelbase = 3.11
ret.steerRatio = 14.6 # it's 16.3 without rear active steering
ret.steerRatioRear = 0. # TODO: there is RAS on this car!
ret.centerToFront = ret.wheelbase * 0.465
# hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923. * CV.LB_TO_KG + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 85400
tireStiffnessRear_civic = 90000
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
# 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 = tireStiffnessFront_civic * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = tireStiffnessRear_civic * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
# same tuning for Volt and CT6 for now
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
ret.gasMaxBP = [0.]
ret.gasMaxV = [.5]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.longitudinalTuning.kpBP = [0., 5., 55.]
ret.longitudinalTuning.kpV = [2., 1., 0.5]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.3]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.steerLimitAlert = True
ret.stoppingControl = True
# Volt PID controller gets upset in heavy low speed stop-go traffic as startAccel interferes with it.
ret.startAccel = 0.0
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerRateCost = 1.0
ret.steerControlType = car.CarParams.SteerControlType.torque
return ret
# returns a car.CarState
def update(self, c):
self.pt_cp.update(int(sec_since_boot() * 1e9), False)
self.ch_cp.update(int(sec_since_boot() * 1e9), False)
self.CS.update(self.pt_cp, self.ch_cp)
# create message
ret = car.CarState.new_message()
# speeds
ret.vEgo = self.CS.v_ego
ret.aEgo = self.CS.a_ego
ret.vEgoRaw = self.CS.v_ego_raw
ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD,
self.CS.v_ego)
ret.standstill = self.CS.standstill
ret.wheelSpeeds.fl = self.CS.v_wheel_fl
ret.wheelSpeeds.fr = self.CS.v_wheel_fr
ret.wheelSpeeds.rl = self.CS.v_wheel_rl
ret.wheelSpeeds.rr = self.CS.v_wheel_rr
# gas pedal information.
ret.gas = self.CS.pedal_gas / 254.0
ret.gasPressed = self.CS.user_gas_pressed
# brake pedal
ret.brake = self.CS.user_brake / 0xd0
ret.brakePressed = self.CS.brake_pressed
ret.brakeLights = self.CS.frictionBrakesActive
# steering wheel
ret.steeringAngle = self.CS.angle_steers + self.angleSteersoffset
# torque and user override. Driver awareness
# timer resets when the user uses the steering wheel.
ret.steeringPressed = self.CS.steer_override
ret.steeringTorque = self.CS.steer_torque_driver
# cruise state
ret.cruiseState.available = bool(self.CS.main_on)
cruiseEnabled = self.CS.pcm_acc_status != AccState.OFF
ret.cruiseState.enabled = cruiseEnabled
ret.cruiseState.standstill = False
ret.leftBlinker = self.CS.left_blinker_on
ret.rightBlinker = self.CS.right_blinker_on
ret.doorOpen = not self.CS.door_all_closed
ret.seatbeltUnlatched = not self.CS.seatbelt
ret.gearShifter = self.CS.gear_shifter
ret.readdistancelines = self.CS.follow_level
ret.genericToggle = False
ret.laneDepartureToggle = False
ret.distanceToggle = self.CS.follow_level
ret.accSlowToggle = False
ret.blindspot = self.CS.blind_spot_on
buttonEvents = []
# blinkers
if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'leftBlinker'
be.pressed = self.CS.left_blinker_on
buttonEvents.append(be)
if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'rightBlinker'
be.pressed = self.CS.right_blinker_on
buttonEvents.append(be)
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
be = car.CarState.ButtonEvent.new_message()
be.type = 'unknown'
if self.CS.cruise_buttons != CruiseButtons.UNPRESS:
be.pressed = True
but = self.CS.cruise_buttons
else:
be.pressed = False
but = self.CS.prev_cruise_buttons
if but == CruiseButtons.RES_ACCEL:
if not (cruiseEnabled and self.CS.standstill):
be.type = 'accelCruise' # Suppress resume button if we're resuming from stop so we don't adjust speed.
elif but == CruiseButtons.DECEL_SET:
be.type = 'decelCruise'
if not cruiseEnabled and not self.CS.lkMode:
self.CS.lkMode = True
elif but == CruiseButtons.CANCEL:
be.type = 'cancel'
elif but == CruiseButtons.MAIN:
be.type = 'altButton3'
buttonEvents.append(be)
ret.buttonEvents = buttonEvents
if self.CS.lka_button and self.CS.lka_button != self.CS.prev_lka_button:
if self.CS.lkMode:
self.CS.lkMode = False
else:
self.CS.lkMode = True
if self.CS.distance_button and self.CS.distance_button != self.CS.prev_distance_button:
self.CS.follow_level -= 1
if self.CS.follow_level < 1:
self.CS.follow_level = 3
kegman.save({'lastTrMode': int(self.CS.follow_level)
}) # write last distance bar setting to file
ret.gasbuttonstatus = self.CS.gasMode
events = []
if not self.CS.can_valid:
self.can_invalid_count += 1
if self.can_invalid_count >= 5:
events.append(
create_event('commIssue',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
else:
self.can_invalid_count = 0
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
disengage_event = True
else:
disengage_event = False
if self.CS.steer_error:
events.append(
create_event(
'steerUnavailable',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if self.CS.steer_not_allowed:
events.append(
create_event('steerTempUnavailable',
[ET.NO_ENTRY, ET.WARNING]))
if ret.doorOpen and disengage_event:
events.append(
create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.seatbeltUnlatched and disengage_event:
events.append(
create_event('seatbeltNotLatched',
[ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.car_fingerprint in SUPERCRUISE_CARS:
if self.CS.acc_active and not self.acc_active_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
if not self.CS.acc_active:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
else:
if self.CS.brake_error:
events.append(
create_event(
'brakeUnavailable',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if not self.CS.gear_shifter_valid:
events.append(
create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled:
events.append(
create_event('espDisabled',
[ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not self.CS.main_on:
events.append(
create_event('wrongCarMode',
[ET.NO_ENTRY, ET.USER_DISABLE]))
if self.CS.gear_shifter == 3:
events.append(
create_event('reverseGear',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if ret.vEgo < self.CP.minEnableSpeed:
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
if self.CS.park_brake:
events.append(
create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
# disable on pedals rising edge or when brake is pressed and speed isn't zero
if (ret.gasPressed and not self.gas_pressed_prev) or \
(ret.brakePressed): # and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
events.append(
create_event('pedalPressed',
[ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gasPressed:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
if ret.cruiseState.standstill:
events.append(create_event('resumeRequired', [ET.WARNING]))
if self.CS.pcm_acc_status == AccState.FAULTED:
events.append(
create_event('controlsFailed',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
# handle button presses
for b in ret.buttonEvents:
# do enable on both accel and decel buttons
if b.type in ["accelCruise", "decelCruise"] and not b.pressed:
events.append(create_event('buttonEnable', [ET.ENABLE]))
# do disable on button down
if b.type == "cancel" and b.pressed:
events.append(
create_event('buttonCancel', [ET.USER_DISABLE]))
ret.events = events
# update previous brake/gas pressed
self.acc_active_prev = self.CS.acc_active
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.cruise_enabled_prev = ret.cruiseState.enabled
# cast to reader so it can't be modified
return ret.as_reader()
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c):
hud_v_cruise = c.hudControl.setSpeed
if hud_v_cruise > 70:
hud_v_cruise = 0
chime, chime_count = AUDIO_HUD[c.hudControl.audibleAlert.raw]
# For Openpilot, "enabled" includes pre-enable.
# In GM, PCM faults out if ACC command overlaps user gas.
enabled = c.enabled and not self.CS.user_gas_pressed
self.CC.update(self.sendcan, enabled, self.CS, self.frame, \
c.actuators,
hud_v_cruise, c.hudControl.lanesVisible, \
c.hudControl.leadVisible, \
chime, chime_count)
self.frame += 1