mirror of
https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git
synced 2026-08-23 17:23:58 +08:00
IQ.Pilot Release Commit @ ab07000
This commit is contained in:
IQ.Lvbs CI [bot]
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|
||||
"python/iqpilot_private/konn3kt/hephaestus/hephaestusd.cpython-312-aarch64-linux-gnu.so": "54+MaaeOIEbj+uZrcphTbHQ8K1jm4gRe2JYZyYNkwxPcT6dkcWLM6NZiNVzXiD6Ph87hTxUbecJnhVeT80pDAw==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/kwp2000.cpython-312-aarch64-linux-gnu.so": "xJnkGTaVVWne7p83UhTU2C/miZg4XR7pLrd6A7j7TvetRCFvQPxyuAeFi5lJsKKwhaWV3dInGZcVWrGV+kV0AA==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/manage_hephaestusd.cpython-312-aarch64-linux-gnu.so": "P+LVQJc3vD5Z9i/jxNxziNbgCiGrI+5P9saUGHMPMKUoWhVEBAAVU8xuVyd6GjSd8M5VrximPVrJyMCE9fEfAw==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/motd.cpython-312-aarch64-linux-gnu.so": "vfDMFKWuTD2XSE7JF/qmHxcOXgdXRZN9fi3FTSffmr6t22Tz0N7v8MwVayiPKrYNt2gHixFZ9aAkvF2SC+yDBg==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/tp20.cpython-312-aarch64-linux-gnu.so": "Orgr5aTB5g3NRH8AdsuNkpcmIfSQDBFHzegDN875SxuvHuCOfsVVYgx2TtRiT0wqSR9hlQQwhelyRHRQjcMCAQ==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/vw_pq_flasher.cpython-312-aarch64-linux-gnu.so": "tZNbbDyMxkFOcrvWCEBQz6ZTGdLZVesuz0dbUMO1OBaSYAG4MRBQ5y9fZwRQZAvcEa+NMlNZK2SGoC6r5BxgDA==",
|
||||
"python/iqpilot_private/konn3kt/uploaderd/iquploaderd.cpython-312-aarch64-linux-gnu.so": "sgYjdE7ZRvdKlehs1/h3z/n14fksR+Z+KhCzi0BvFPcbMcx0Pod/L42IQeEDfcQfoFBURPNoI1OTwWc31H/NAQ=="
|
||||
}
|
||||
}
|
||||
|
||||
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@@ -245,6 +245,9 @@ class CarController(CarControllerBase):
|
||||
self.leadDistanceBars = 0
|
||||
self.lead_distance_bars_last = None
|
||||
self.distance_bar_frame = 0
|
||||
self.mlb_hud_text = 0
|
||||
self.mlb_hud_text_frame = 0
|
||||
self.mlb_set_speed_last = 0
|
||||
self.speed_limit_last = 0
|
||||
self.speed_limit_changed_timer = 0
|
||||
self.blinkerActive = None
|
||||
@@ -280,6 +283,19 @@ class CarController(CarControllerBase):
|
||||
return float(np.interp(v_ego, [0.4, 3.5, 4.0], [0.8, 0.95, 1.0]))
|
||||
return 1.0
|
||||
|
||||
def _mlb_acc_hud_text(self, hud_control, set_speed: float) -> int:
|
||||
# ACC_02 primary display text, briefly surfaced on a follow distance or set speed change
|
||||
if hud_control.leadDistanceBars != self.lead_distance_bars_last:
|
||||
self.mlb_hud_text_frame = self.frame
|
||||
self.mlb_hud_text = self.CCP.ACC_HUD_TEXT_DISTANCE.get(hud_control.leadDistanceBars, self.CCP.ACC_HUD_TEXTS["none"])
|
||||
elif set_speed != self.mlb_set_speed_last and hud_control.speedVisible:
|
||||
self.mlb_hud_text_frame = self.frame
|
||||
self.mlb_hud_text = self.CCP.ACC_HUD_TEXTS["setSpeed"]
|
||||
elif self.frame - self.mlb_hud_text_frame >= self.CCP.ACC_HUD_TEXT_STEP:
|
||||
self.mlb_hud_text = self.CCP.ACC_HUD_TEXTS["none"]
|
||||
self.mlb_set_speed_last = set_speed
|
||||
return self.mlb_hud_text
|
||||
|
||||
def _should_spam_mqb_a0_resume(self, CS, enabled: bool) -> bool:
|
||||
return bool(
|
||||
enabled and
|
||||
@@ -429,8 +445,9 @@ class CarController(CarControllerBase):
|
||||
can_sends.append(self.CCS.create_blinker_control(self.packer_pt, self.CAN.pt, CS.ea_hud_stock_values, CS.ea_control_stock_values,
|
||||
left_blinker, right_blinker, self.hide_ea_error))
|
||||
|
||||
if self.CP.openpilotLongitudinalControl and self.CCS == mqbcan and not self.acc_counter_seeded and CS.acc_stock_counters:
|
||||
for name in ("ACC_02", "ACC_06", "ACC_07", "ACC_10"):
|
||||
if self.CP.openpilotLongitudinalControl and self.CCS in (mqbcan, mlbcan) and not self.acc_counter_seeded and CS.acc_stock_counters:
|
||||
seed_msgs = ("ACC_01", "ACC_02") if self.CCS is mlbcan else ("ACC_02", "ACC_06", "ACC_07", "ACC_10")
|
||||
for name in seed_msgs:
|
||||
addr = self.packer_pt.dbc.name_to_msg[name].address
|
||||
self.packer_pt.counters[addr] = (CS.acc_stock_counters[name] + 1) % 16
|
||||
self.acc_counter_seeded = True
|
||||
@@ -499,6 +516,8 @@ class CarController(CarControllerBase):
|
||||
self.long_deviation, self.long_jerklimit, eBrakeActive,
|
||||
esp_starting_override=esp_starting_override, esp_stopping_override=esp_stopping_override,
|
||||
))
|
||||
elif self.CCS == mlbcan:
|
||||
can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, self.CAN.pt, accel, acc_control, stopping))
|
||||
else:
|
||||
accel = apply_pq_stopping_accel(self.CP.carFingerprint, accel, stopping)
|
||||
|
||||
@@ -577,7 +596,10 @@ class CarController(CarControllerBase):
|
||||
acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive, CC.cruiseControl.override)
|
||||
set_speed = hud_control.setSpeed * CV.MS_TO_KPH
|
||||
decel = dVisual(self.CCS, CS)
|
||||
can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, set_speed, leadDistance, self.leadDistanceBars, fcw_alert, hud_control.leadVisible, self.unavailable, decel, d_unresponsive))
|
||||
hud_kwargs = {"hud_text": self._mlb_acc_hud_text(hud_control, set_speed)} if self.CCS is mlbcan else {}
|
||||
can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, set_speed, leadDistance,
|
||||
self.leadDistanceBars, fcw_alert, hud_control.leadVisible, self.unavailable,
|
||||
decel, d_unresponsive, **hud_kwargs))
|
||||
|
||||
if self.CP.flags & VolkswagenFlags.PQ:
|
||||
iq_lvbs_commander.update_turn_signals(self, CC, CS, can_sends)
|
||||
|
||||
@@ -675,9 +675,12 @@ class CarState(CarStateBase):
|
||||
else:
|
||||
ret.gearShifter = GearShifter.drive
|
||||
|
||||
# ACC okay but disabled (1), ACC ready (2), a radar visibility or other fault/disruption (6 or 7)
|
||||
# currently regulating speed (3), driver accel override (4), brake only (5)
|
||||
if self.CP.carFingerprint == CAR.PORSCHE_MACAN_MK1:
|
||||
cruise_main_switch = bool(pt_cp.vl["LS_01"]["LS_Hauptschalter"])
|
||||
if not self.CP.pcmCruise:
|
||||
ret.cruiseState.available = cruise_main_switch
|
||||
ret.cruiseState.enabled = False
|
||||
ret.accFaulted = False
|
||||
elif self.CP.carFingerprint == CAR.PORSCHE_MACAN_MK1:
|
||||
ret.cruiseState.available = ext_cp.vl["ACC_05"]["ACC_Status_ACC"] in (2, 3, 4, 5)
|
||||
ret.cruiseState.enabled = ext_cp.vl["ACC_05"]["ACC_Status_ACC"] in (3, 4, 5)
|
||||
ret.accFaulted = ext_cp.vl["ACC_05"]["ACC_Status_ACC"] in (6, 7)
|
||||
@@ -687,6 +690,12 @@ class CarState(CarStateBase):
|
||||
ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS
|
||||
ret.accFaulted = pt_cp.vl["TSK_02"]["TSK_Status"] in (3,)
|
||||
|
||||
ret.cruiseState.nonAdaptive = bool(pt_cp.vl["LS_01"]["LS_Limiter"])
|
||||
if not self.CP.pcmCruise:
|
||||
self.acc_stock_counters["ACC_01"] = int(ext_cp.vl["ACC_01"]["COUNTER"])
|
||||
self.acc_stock_counters["ACC_02"] = int(ext_cp.vl["ACC_02"]["COUNTER"])
|
||||
self.esp_hold_confirmation = bool(pt_cp.vl["ESP_02"]["ESP_Stillstandsflag"])
|
||||
|
||||
self.parse_mlb_mqb_steering_state(ret, pt_cp)
|
||||
self._update_mlb_iq_alc_state(pt_cp)
|
||||
|
||||
@@ -728,9 +737,10 @@ class CarState(CarStateBase):
|
||||
|
||||
ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
|
||||
ret.standstill = ret.vEgoRaw == 0
|
||||
ret.cruiseFaultLateralMode = False
|
||||
ret.lateralAvailable = ret.cruiseState.available
|
||||
ret.blockPcmEnable = False
|
||||
allow_lat_only = self._params.get_bool("AllowLateralWhenLongUnavailable") and self._params.get_bool("AolEnabled")
|
||||
ret.cruiseFaultLateralMode = allow_lat_only and ret.accFaulted and cruise_main_switch
|
||||
ret.lateralAvailable = ret.cruiseState.available or ret.cruiseFaultLateralMode
|
||||
ret.blockPcmEnable = ret.cruiseFaultLateralMode
|
||||
|
||||
self.cruise_faulted = ret.accFaulted
|
||||
self.frame += 1
|
||||
|
||||
@@ -91,6 +91,7 @@ class CarInterface(CarInterfaceBase):
|
||||
safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenMlb)]
|
||||
ret.enableBsm = 0x30F in fingerprint[0] # SWA_01
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
ret.transmissionType = TransmissionType.automatic
|
||||
ret.dashcamOnly = False
|
||||
|
||||
elif ret.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
|
||||
|
||||
@@ -1,4 +1,11 @@
|
||||
from iqdbc.car.volkswagen.mqbcan import (volkswagen_mqb_meb_checksum, xor_checksum, create_lka_hud_control as mqb_create_lka_hud_control)
|
||||
from iqdbc.car.volkswagen.mqbcan import (volkswagen_mqb_meb_checksum, xor_checksum,
|
||||
acc_control_value as mqb_acc_control_value,
|
||||
acc_hud_status_value as mqb_acc_hud_status_value,
|
||||
create_lka_hud_control as mqb_create_lka_hud_control)
|
||||
|
||||
# ACC_01.ACC_Sollbeschleunigung one increment above range max, "no acceleration request"
|
||||
ACC_INACTIVE_ACCEL = 3.01
|
||||
|
||||
|
||||
def create_hca_steering_control(packer, bus, apply_steer, HCA_Status):
|
||||
values = {
|
||||
@@ -11,8 +18,10 @@ def create_hca_steering_control(packer, bus, apply_steer, HCA_Status):
|
||||
return packer.make_can_msg("HCA_01", bus, values)
|
||||
|
||||
|
||||
def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control, entering=False, special_mode=False, special_active=False):
|
||||
return mqb_create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control, entering, special_mode, special_active)
|
||||
def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control,
|
||||
entering=False, special_mode=False, special_active=False):
|
||||
return mqb_create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control,
|
||||
entering, special_mode, special_active)
|
||||
|
||||
|
||||
def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False, set_button=False):
|
||||
@@ -32,23 +41,57 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resu
|
||||
return packer.make_can_msg("LS_01", bus, values)
|
||||
|
||||
|
||||
def acc_control_value(main_switch_on, long_active, cruiseOverride):
|
||||
return 0
|
||||
def acc_control_value(main_switch_on, long_active, cruiseOverride, accFaulted):
|
||||
# ACC_01.ACC_Status_ACC uses the same enum as MQB ACC_06: 0 off, 2 standby, 3 active, 4 driver override, 6 fault
|
||||
return mqb_acc_control_value(main_switch_on, long_active, cruiseOverride, accFaulted)
|
||||
|
||||
|
||||
def acc_hud_status_value(main_switch_on, acc_faulted, longActive, longOverride):
|
||||
return 0
|
||||
return mqb_acc_hud_status_value(main_switch_on, acc_faulted, longActive, longOverride)
|
||||
|
||||
|
||||
def create_acc_accel_control(packer, bus, acc_type, accel, acc_control, stopping, starting, esp_hold, comfortBand, jerkLimit):
|
||||
values = {}
|
||||
return [packer.make_can_msg("ACC_05", bus, values)]
|
||||
def create_acc_accel_control(packer, bus, accel, acc_control, stopping):
|
||||
acc_enabled = acc_control in (3, 4)
|
||||
|
||||
acc_01_values = {
|
||||
"ACC_Status_ACC": acc_control,
|
||||
"ACC_Sollbeschleunigung": accel if acc_enabled else ACC_INACTIVE_ACCEL,
|
||||
"ACC_zul_Regelabw_unten": 0.2,
|
||||
"ACC_zul_Regelabw_oben": 0.2,
|
||||
"ACC_neg_Sollbeschl_Grad": 4.0 if acc_enabled else 0,
|
||||
"ACC_pos_Sollbeschl_Grad": 4.0 if acc_enabled else 0,
|
||||
"ACC_Dynamik": 3,
|
||||
"ACC_Anhalten": stopping if acc_enabled else False,
|
||||
"ACC_Minimale_Bremsung": 0,
|
||||
}
|
||||
|
||||
return [packer.make_can_msg("ACC_01", bus, acc_01_values)]
|
||||
|
||||
|
||||
def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, leadDistance, distanceBars, fcw_alert, leadVisible, unavailable, decel, d_unresponsive):
|
||||
values = {}
|
||||
def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, leadDistance, distanceBars, fcw_alert, leadVisible,
|
||||
unavailable, decel, d_unresponsive, hud_text=0):
|
||||
engaged = acc_hud_status in (3, 4)
|
||||
priodisp = 0 if fcw_alert else 1 if (acc_hud_status == 4 or decel or leadVisible) else 2 if (acc_hud_status in (3, 2)) else 0
|
||||
leadDistanceBars = distanceBars + 1 if distanceBars in (1, 2, 3) else 2
|
||||
|
||||
values = {
|
||||
"ACC_Status_Anzeige": acc_hud_status,
|
||||
"ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
|
||||
"ACC_Gesetzte_Zeitluecke": leadDistanceBars,
|
||||
"ACC_Anzeige_Zeitluecke": 1 if engaged else 0,
|
||||
"ACC_Tachokranz": 1 if engaged else 0,
|
||||
"ACC_Display_Prio": priodisp,
|
||||
"ACC_Abstandsindex": leadDistance if leadVisible else 0,
|
||||
"ACC_Relevantes_Objekt": 2 if fcw_alert else (1 if leadVisible else 0), # lead car: 1 green, 2 red, 0 off
|
||||
"ACC_Status_Prim_Anz": 2 if fcw_alert else (1 if engaged else 0), # ACC symbol: 1 green, 2 red, 0 off
|
||||
"ACC_Optischer_Fahrerhinweis": 1 if fcw_alert else 0,
|
||||
"ACC_Akustik": 1 if (fcw_alert or d_unresponsive) else 0,
|
||||
"ACC_Texte_Primaeranz": hud_text,
|
||||
}
|
||||
|
||||
return packer.make_can_msg("ACC_02", bus, values)
|
||||
|
||||
|
||||
def volkswagen_mlb_checksum(address: int, sig, d: bytearray) -> int:
|
||||
xor_starting_value = {
|
||||
0x109: 0x08, # ACC_01
|
||||
|
||||
@@ -2,7 +2,7 @@ from collections import defaultdict, namedtuple
|
||||
from dataclasses import dataclass, field
|
||||
from enum import Enum, IntFlag, StrEnum
|
||||
|
||||
from iqdbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CanBusBase, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
|
||||
from iqdbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CanBusBase, CarSpecs, DbcDict, DT_CTRL, PlatformConfig, Platforms, structs, uds
|
||||
from iqdbc.car.lateral import CurvatureSteeringLimits
|
||||
from iqdbc.can import CANDefine
|
||||
from iqdbc.car.common.conversions import Conversions as CV
|
||||
@@ -204,6 +204,7 @@ class CarControllerParams:
|
||||
self.STEER_DRIVER_ALLOWANCE = 60 # Driver intervention threshold 0.6 Nm
|
||||
self.STEER_DELTA_UP = 9 # Max HCA reached in 0.66s (STEER_MAX / (50Hz * 0.66))
|
||||
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
|
||||
self.ACC_HUD_TEXT_STEP = int(2.0 / DT_CTRL) # ACC_02 primary display text dwell time
|
||||
|
||||
if CP.carFingerprint == CAR.PORSCHE_MACAN_MK1:
|
||||
self.shifter_values = can_define.dv["Getriebe_03"]["GE_Waehlhebel"]
|
||||
@@ -219,6 +220,13 @@ class CarControllerParams:
|
||||
Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "LS_01", "LS_Verstellung_Zeitluecke", [1, 2, 3]),
|
||||
]
|
||||
|
||||
# ACC_02.ACC_Texte_Primaeranz, primary ACC display text at the bottom of the cluster
|
||||
self.ACC_HUD_TEXTS = {
|
||||
"none": 0,
|
||||
"setSpeed": 21,
|
||||
}
|
||||
self.ACC_HUD_TEXT_DISTANCE = {1: 2, 2: 3, 3: 4, 4: 5} # follow distance bars to display text
|
||||
|
||||
else:
|
||||
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
|
||||
self.STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
|
||||
|
||||
@@ -35,7 +35,7 @@ BS_:
|
||||
BU_: Airbag_D4 EPB_D4 ESP_D4 Gateway_D4C7 Getriebe_AL551_951_D4_C7 Getriebe_DL501_C7 Getriebe_VL381_C7 LWS_D4 Motor_EDC17_D4 Motor_ME17_BY Motor_MED17_SIMOS8_D4 Motor_Slave_D4 QSP_D4 SAK_C7 SCR_C7 SCU_D4
|
||||
|
||||
BO_ 265 ACC_01: 8 Gateway_B8
|
||||
SG_ ACC_01_CHK : 0|8@1+ (1,0) [0|255] "" Magnetic_Ride_LB,Motor_MLB_AU48_AU416_Diesel,Motor_MLB_B8_Q5_Otto,Motor_MLB_Q5_Hybrid
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Magnetic_Ride_LB,Motor_MLB_AU48_AU416_Diesel,Motor_MLB_B8_Q5_Otto,Motor_MLB_Q5_Hybrid
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Magnetic_Ride_LB,Motor_MLB_AU48_AU416_Diesel,Motor_MLB_B8_Q5_Otto,Motor_MLB_Q5_Hybrid
|
||||
SG_ ACC_zul_Regelabw_unten : 16|6@1+ (0.024,0) [0|1.512] "Unit_MeterPerSeconSquar" Motor_MLB_AU48_AU416_Diesel,Motor_MLB_B8_Q5_Otto,Motor_MLB_Q5_Hybrid
|
||||
SG_ ACC_Sollbeschleunigung : 24|11@1+ (0.005,-7.22) [-7.22|3.01] "Unit_MeterPerSeconSquar" Magnetic_Ride_LB,Motor_MLB_AU48_AU416_Diesel,Motor_MLB_B8_Q5_Otto,Motor_MLB_Q5_Hybrid
|
||||
@@ -48,7 +48,7 @@ BO_ 265 ACC_01: 8 Gateway_B8
|
||||
SG_ ACC_Minimale_Bremsung : 63|1@1+ (1,0) [0|1] "" Motor_MLB_AU48_AU416_Diesel,Motor_MLB_B8_Q5_Otto,Motor_MLB_Q5_Hybrid
|
||||
|
||||
BO_ 780 ACC_02: 8 Gateway_D4C7
|
||||
SG_ ACC_02_CHK : 0|8@1+ (1,0) [0|255] "" HUD_C7,Kombi_D4
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" HUD_C7,Kombi_D4
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" HUD_C7,Kombi_D4
|
||||
SG_ ACC_Wunschgeschw_02 : 12|10@1+ (0.32,0) [0.00|326.72] "Unit_KiloMeterPerHour" HUD_C7,Kombi_D4
|
||||
SG_ ACC_Status_Prim_Anz : 22|2@1+ (1.0,0.0) [0.0|3] "" HUD_C7,Kombi_D4
|
||||
|
||||
@@ -100,7 +100,7 @@ void can_set_checksum(CANPacket_t *packet);
|
||||
#define MSG_MOTOR_03 0x105U // RX from ECU, for driver throttle input and brake switch status
|
||||
#define MSG_TSK_02 0x10CU // RX from ECU, for ACC status from drivetrain coordinator
|
||||
#define MSG_ACC_05 0x10DU // RX from radar, for ACC status
|
||||
#define MSG_ACC_01 0x109U // RX from radar, for ACC status (Audi B8)
|
||||
#define MSG_ACC_01 0x109U // TX by OP, ACC control instructions to the drivetrain coordinator
|
||||
|
||||
static void volkswagen_common_init(void) {
|
||||
volkswagen_set_button_prev = false;
|
||||
|
||||
@@ -9,6 +9,9 @@ static safety_config volkswagen_mlb_init(uint16_t param) {
|
||||
static const CanMsg VOLKSWAGEN_MLB_STOCK_TX_MSGS[] = {{MSG_HCA_01, 0, 8, .check_relay = true}, {MSG_LDW_02, 0, 8, .check_relay = true},
|
||||
{MSG_LS_01, 0, 4, .check_relay = false}, {MSG_LS_01, 2, 4, .check_relay = false}};
|
||||
|
||||
static const CanMsg VOLKSWAGEN_MLB_LONG_TX_MSGS[] = {{MSG_HCA_01, 0, 8, .check_relay = true}, {MSG_LDW_02, 0, 8, .check_relay = true},
|
||||
{MSG_ACC_01, 0, 8, .check_relay = true}, {MSG_ACC_02, 0, 8, .check_relay = true}};
|
||||
|
||||
static RxCheck volkswagen_mlb_rx_checks[] = {
|
||||
// TODO: implement checksum validation
|
||||
{.msg = {{MSG_ESP_03, 0, 8, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
@@ -19,10 +22,17 @@ static safety_config volkswagen_mlb_init(uint16_t param) {
|
||||
{.msg = {{MSG_LS_01, 0, 4, 10U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
SAFETY_UNUSED(param);
|
||||
volkswagen_common_init();
|
||||
|
||||
return BUILD_SAFETY_CFG(volkswagen_mlb_rx_checks, VOLKSWAGEN_MLB_STOCK_TX_MSGS);
|
||||
#ifdef ALLOW_DEBUG
|
||||
volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL);
|
||||
volkswagen_allow_long_accel_with_gas_pressed = GET_FLAG(param, FLAG_VOLKSWAGEN_ALLOW_LONG_ACCEL_WITH_GAS_PRESSED);
|
||||
#else
|
||||
SAFETY_UNUSED(param);
|
||||
#endif
|
||||
|
||||
return volkswagen_longitudinal ? BUILD_SAFETY_CFG(volkswagen_mlb_rx_checks, VOLKSWAGEN_MLB_LONG_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(volkswagen_mlb_rx_checks, VOLKSWAGEN_MLB_STOCK_TX_MSGS);
|
||||
}
|
||||
|
||||
static void volkswagen_mlb_rx_hook(const CANPacket_t *msg) {
|
||||
@@ -44,6 +54,27 @@ static void volkswagen_mlb_rx_hook(const CANPacket_t *msg) {
|
||||
}
|
||||
|
||||
if (msg->addr == MSG_LS_01) {
|
||||
// If using openpilot longitudinal, the stock ACC coordinator is relayed out, so the stalk main
|
||||
// switch is the only remaining source of truth. Enter controls on falling edge of Set or Resume.
|
||||
// Signal: LS_01.LS_Hauptschalter
|
||||
// Signal: LS_01.LS_Tip_Setzen
|
||||
// Signal: LS_01.LS_Tip_Wiederaufnahme
|
||||
if (volkswagen_longitudinal) {
|
||||
acc_main_on = GET_BIT(msg, 12U);
|
||||
|
||||
bool set_button = GET_BIT(msg, 16U);
|
||||
bool resume_button = GET_BIT(msg, 19U);
|
||||
if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
|
||||
controls_allowed = acc_main_on;
|
||||
}
|
||||
volkswagen_set_button_prev = set_button;
|
||||
volkswagen_resume_button_prev = resume_button;
|
||||
|
||||
if (!acc_main_on) {
|
||||
controls_allowed = false;
|
||||
}
|
||||
}
|
||||
|
||||
// Always exit controls on rising edge of Cancel
|
||||
// Signal: LS_01.LS_Abbrechen
|
||||
if (GET_BIT(msg, 13U)) {
|
||||
@@ -64,7 +95,7 @@ static void volkswagen_mlb_rx_hook(const CANPacket_t *msg) {
|
||||
|
||||
brake_pressed = volkswagen_brake_pedal_switch || volkswagen_brake_pressure_detected;
|
||||
|
||||
if (msg->addr == MSG_TSK_02) {
|
||||
if ((msg->addr == MSG_TSK_02) && !volkswagen_longitudinal) {
|
||||
// When using stock ACC, enter controls on rising edge of stock ACC engage, exit on disengage
|
||||
// Always exit controls on main switch off
|
||||
// Signal: TSK_02.TSK_Status
|
||||
@@ -80,7 +111,7 @@ static void volkswagen_mlb_rx_hook(const CANPacket_t *msg) {
|
||||
|
||||
if (msg->bus == 2U) {
|
||||
// TODO: See if there's a bus-agnostic TSK message we can use instead
|
||||
if (msg->addr == MSG_ACC_05) {
|
||||
if ((msg->addr == MSG_ACC_05) && !volkswagen_longitudinal) {
|
||||
// When using stock ACC, enter controls on rising edge of stock ACC engage, exit on disengage
|
||||
// Always exit controls on main switch off
|
||||
// Signal: ACC_05.ACC_Status_ACC
|
||||
@@ -123,6 +154,17 @@ static bool volkswagen_mlb_tx_hook(const CANPacket_t *msg) {
|
||||
}
|
||||
}
|
||||
|
||||
// Safety check for ACC_01 acceleration request
|
||||
// Signal: ACC_01.ACC_Sollbeschleunigung (acceleration in m/s^2, scale 0.005, offset -7.22)
|
||||
// To avoid floating point math, scale upward and compare to pre-scaled safety m/s^2 boundaries
|
||||
if (msg->addr == MSG_ACC_01) {
|
||||
int desired_accel = ((((msg->data[4] & 0x07U) << 8) | msg->data[3]) * 5U) - 7220U;
|
||||
|
||||
if (volkswagen_iq_long_accel_check(desired_accel)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off.
|
||||
// This avoids unintended engagements while still allowing resume spam
|
||||
if ((msg->addr == MSG_LS_01) && !controls_allowed) {
|
||||
|
||||
@@ -926,12 +926,12 @@ class SafetyTest(SafetyTestBase):
|
||||
if attr.startswith('TestSubaru') and current_test == 'TestVolkswagenMqbLongSafety':
|
||||
tx = list(filter(lambda m: m[0] not in [0x122, ], tx))
|
||||
|
||||
# Volkswagen MQB and Honda Nidec ACC HUD messages overlap
|
||||
if attr == 'TestVolkswagenMqbLongSafety' and current_test.startswith('TestHondaNidec'):
|
||||
# Volkswagen MQB/MLB and Honda Nidec ACC HUD messages overlap
|
||||
if attr in ('TestVolkswagenMqbLongSafety', 'TestVolkswagenMlbLongSafety') and current_test.startswith('TestHondaNidec'):
|
||||
tx = list(filter(lambda m: m[0] not in [0x30c, ], tx))
|
||||
|
||||
# Volkswagen MQB and Honda Bosch Radarless ACC HUD messages overlap
|
||||
if attr == 'TestVolkswagenMqbLongSafety' and current_test.startswith('TestHondaBoschRadarless'):
|
||||
# Volkswagen MQB/MLB and Honda Bosch Radarless ACC HUD messages overlap
|
||||
if attr in ('TestVolkswagenMqbLongSafety', 'TestVolkswagenMlbLongSafety') and current_test.startswith('TestHondaBoschRadarless'):
|
||||
tx = list(filter(lambda m: m[0] not in [0x30c, ], tx))
|
||||
|
||||
# TODO: Temporary, should be fixed in panda firmware, safety_honda.h
|
||||
|
||||
@@ -1,17 +1,24 @@
|
||||
#!/usr/bin/env python3
|
||||
import unittest
|
||||
import numpy as np
|
||||
from iqdbc.car.structs import CarParams
|
||||
from iqdbc.safety.tests.libsafety import libsafety_py
|
||||
import iqdbc.safety.tests.common as common
|
||||
from iqdbc.safety.tests.common import CANPackerSafety
|
||||
from iqdbc.car.volkswagen.values import VolkswagenSafetyFlags
|
||||
|
||||
MAX_ACCEL = 2.0
|
||||
MIN_ACCEL = -3.5
|
||||
|
||||
MSG_LH_EPS_03 = 0x9F # RX from EPS, for driver steering torque
|
||||
MSG_ACC_01 = 0x109 # TX by OP, ACC acceleration request to the drivetrain coordinator
|
||||
MSG_ESP_03 = 0x103 # RX from ABS, for wheel speeds
|
||||
MSG_MOTOR_03 = 0x105 # RX from ECU, for driver throttle input and driver brake input
|
||||
MSG_ESP_05 = 0x106 # RX from ABS, for brake light state
|
||||
MSG_LS_01 = 0x10B # TX by OP, ACC control buttons for cancel/resume
|
||||
MSG_TSK_02 = 0x10C # RX from ECU, for ACC status from drivetrain coordinator
|
||||
MSG_HCA_01 = 0x126 # TX by OP, Heading Control Assist steering torque
|
||||
MSG_ACC_02 = 0x30C # TX by OP, ACC HUD data to the instrument cluster
|
||||
MSG_LDW_02 = 0x397 # TX by OP, Lane line recognition and text alerts
|
||||
|
||||
|
||||
@@ -72,10 +79,16 @@ class TestVolkswagenMlbSafetyBase(common.CarSafetyTest, common.DriverTorqueSteer
|
||||
return self.packer.make_can_msg_safety("HCA_01", 0, values)
|
||||
|
||||
# Cruise control buttons
|
||||
def _ls_01_msg(self, cancel=0, resume=0, _set=0, bus=2):
|
||||
values = {"LS_Abbrechen": cancel, "LS_Tip_Setzen": _set, "LS_Tip_Wiederaufnahme": resume}
|
||||
def _ls_01_msg(self, cancel=0, resume=0, _set=0, main_switch=1, bus=2):
|
||||
values = {"LS_Abbrechen": cancel, "LS_Tip_Setzen": _set, "LS_Tip_Wiederaufnahme": resume,
|
||||
"LS_Hauptschalter": main_switch}
|
||||
return self.packer.make_can_msg_safety("LS_01", bus, values)
|
||||
|
||||
# Acceleration request to drivetrain coordinator
|
||||
def _acc_01_msg(self, accel):
|
||||
values = {"ACC_Sollbeschleunigung": accel}
|
||||
return self.packer.make_can_msg_safety("ACC_01", 0, values)
|
||||
|
||||
# Verify brake_pressed is true if either the switch or pressure threshold signals are true
|
||||
def test_redundant_brake_signals(self):
|
||||
test_combinations = [(True, True, True), (True, True, False), (True, False, True), (False, False, False)]
|
||||
@@ -137,5 +150,63 @@ class TestVolkswagenMlbStockSafety(TestVolkswagenMlbSafetyBase):
|
||||
self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after cancel")
|
||||
|
||||
|
||||
class TestVolkswagenMlbLongSafety(TestVolkswagenMlbSafetyBase):
|
||||
TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_ACC_01, 0], [MSG_ACC_02, 0]]
|
||||
FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_01, MSG_LDW_02, MSG_ACC_01, MSG_ACC_02]}
|
||||
FWD_BUS_LOOKUP = {0: 2, 2: 0}
|
||||
RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_01, MSG_LDW_02, MSG_ACC_01, MSG_ACC_02)}
|
||||
INACTIVE_ACCEL = 3.01
|
||||
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("vw_mlb")
|
||||
self.safety = libsafety_py.libsafety
|
||||
safety_param = VolkswagenSafetyFlags.LONG_CONTROL | VolkswagenSafetyFlags.ALLOW_LONG_ACCEL_WITH_GAS_PRESSED
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMlb, safety_param)
|
||||
self.safety.init_tests()
|
||||
|
||||
# stock cruise controls are entirely bypassed under openpilot longitudinal control
|
||||
def test_disable_control_allowed_from_cruise(self):
|
||||
pass
|
||||
|
||||
def test_enable_control_allowed_from_cruise(self):
|
||||
pass
|
||||
|
||||
def test_cruise_engaged_prev(self):
|
||||
pass
|
||||
|
||||
def test_set_and_resume_buttons(self):
|
||||
for button in ["set", "resume"]:
|
||||
# ACC main switch must be on, engage on falling edge
|
||||
self.safety.set_controls_allowed(0)
|
||||
self._rx(self._ls_01_msg(_set=(button == "set"), resume=(button == "resume"), main_switch=0, bus=0))
|
||||
self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} with main switch off")
|
||||
self._rx(self._ls_01_msg(main_switch=0, bus=0))
|
||||
self._rx(self._ls_01_msg(_set=(button == "set"), resume=(button == "resume"), bus=0))
|
||||
self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} rising edge")
|
||||
self._rx(self._ls_01_msg(bus=0))
|
||||
self.assertTrue(self.safety.get_controls_allowed(), f"controls not allowed on {button} falling edge")
|
||||
|
||||
def test_main_switch(self):
|
||||
# Disable as soon as the ACC main switch turns off
|
||||
self._rx(self._ls_01_msg(bus=0))
|
||||
self.safety.set_controls_allowed(1)
|
||||
self._rx(self._ls_01_msg(main_switch=0, bus=0))
|
||||
self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after ACC main switch off")
|
||||
|
||||
def test_accel_safety_check(self):
|
||||
for controls_allowed in [True, False]:
|
||||
for accel in np.concatenate((np.arange(MIN_ACCEL - 2, MAX_ACCEL + 2, 0.03), [0, self.INACTIVE_ACCEL])):
|
||||
accel = round(accel, 2)
|
||||
is_inactive_accel = accel == self.INACTIVE_ACCEL
|
||||
send = (controls_allowed and MIN_ACCEL <= accel <= MAX_ACCEL) or is_inactive_accel
|
||||
self.safety.set_controls_allowed(controls_allowed)
|
||||
self.assertEqual(send, self._tx(self._acc_01_msg(accel)), (controls_allowed, accel))
|
||||
|
||||
def test_accel_allowed_with_gas_pressed(self):
|
||||
self._rx(self._user_gas_msg(1))
|
||||
self.safety.set_controls_allowed(True)
|
||||
self.assertTrue(self._tx(self._acc_01_msg(0.5)))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
||||
@@ -121,19 +121,13 @@ def _install_signal_handlers() -> None:
|
||||
signal.signal(signal.SIGTERM, _handle_shutdown_signal)
|
||||
|
||||
|
||||
class _QuietSpinner:
|
||||
def update(self, *args, **kwargs) -> None:
|
||||
pass
|
||||
|
||||
def close(self, *args, **kwargs) -> None:
|
||||
pass
|
||||
|
||||
|
||||
def ensure_vendor_runtime() -> None:
|
||||
# verify-only: a hash-mismatched binary is quarantined, never replaced from
|
||||
# the network — the updater restores the checked-in one
|
||||
try:
|
||||
VendorMapdInstaller(_QuietSpinner()).check_and_download()
|
||||
VendorMapdInstaller().verify()
|
||||
except Exception:
|
||||
cloudlog.exception("iq_maps: vendor runtime install/download failed")
|
||||
cloudlog.exception("iq_maps: vendor runtime verification failed")
|
||||
|
||||
params = Params()
|
||||
mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else params
|
||||
|
||||
@@ -2,8 +2,10 @@
|
||||
"""
|
||||
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
|
||||
|
||||
Maintainer utility: pin a new pfeiferj/mapd release tag and refresh the checked-in
|
||||
binary hash. Not used at runtime.
|
||||
Maintainer utility: pin a new mapd release tag and refresh the checked-in binary
|
||||
hash. Not used at runtime. Binaries come from the gitlvb teal/mapd CI (built
|
||||
against teal/gomsgq) — drop the artifact at third_party/mapd_pfeiferj/mapd, then
|
||||
run this so the hash pin moves in the same commit.
|
||||
"""
|
||||
import argparse
|
||||
import os
|
||||
|
||||
@@ -2,36 +2,30 @@
|
||||
"""
|
||||
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
|
||||
|
||||
Provisions the `mapd` routing binary authored by Jacob Pfeifer (github.com/pfeiferj/mapd).
|
||||
The binary itself is his work; this module only fetches, verifies and stages it on-device.
|
||||
Verifies the vendored `mapd` routing binary authored by Jacob Pfeifer
|
||||
(github.com/pfeiferj/mapd), built from the gitlvb teal/mapd fork against
|
||||
teal/gomsgq. The only accepted binary is the checked-in one matching the pinned
|
||||
hash; nothing is ever downloaded at runtime. Jacob's stock release build embeds
|
||||
a 15-reader msgq header layout — on this fork (NUM_READERS=32) its registration
|
||||
writes land inside other processes' reader slots, so a wrong binary is
|
||||
quarantined rather than left where manager could start it.
|
||||
"""
|
||||
import hashlib
|
||||
import logging
|
||||
import os
|
||||
import stat
|
||||
import time
|
||||
from pathlib import Path
|
||||
import sys
|
||||
|
||||
import requests
|
||||
|
||||
from cereal import messaging
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.spinner import Spinner
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.version import is_prebuilt
|
||||
from openpilot.iqpilot.iq_maps import VENDOR_MAPD_BIN_DIR, VENDOR_MAPD_PATH
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.iqpilot.iq_maps import VENDOR_MAPD_PATH
|
||||
import openpilot.system.sentry as sentry
|
||||
|
||||
VENDOR_RELEASE_TAG = "v2.0.6"
|
||||
VENDOR_RELEASE_URL = f"https://github.com/pfeiferj/mapd/releases/download/{VENDOR_RELEASE_TAG}/mapd"
|
||||
VENDOR_RELEASE_TAG = "v2.0.6-iq1"
|
||||
|
||||
_VERSION_PARAM = "MapdVersion"
|
||||
_HASH_FILE = os.path.join(BASEDIR, "iqpilot", "iq_maps", "tests", "mapd_hash")
|
||||
_HTTP_TIMEOUT_S = 60
|
||||
_FETCH_ATTEMPTS = 5
|
||||
_NET_PROBE_ATTEMPTS = 10
|
||||
_NET_PROBE_INTERVAL_S = 2
|
||||
QUARANTINE_PATH = VENDOR_MAPD_PATH + ".quarantined"
|
||||
|
||||
|
||||
def sha256_of_file(path: str) -> str:
|
||||
@@ -48,45 +42,58 @@ def stamp_vendor_version(version: str, params: Params | None = None) -> None:
|
||||
|
||||
|
||||
class VendorMapdInstaller:
|
||||
def __init__(self, spinner_ref: Spinner):
|
||||
def __init__(self, spinner_ref: Spinner | None = None, params: Params | None = None):
|
||||
self._spinner = spinner_ref
|
||||
self._params = Params()
|
||||
self._params = params if params is not None else Params()
|
||||
|
||||
# --- externally consumed surface -----------------------------------------
|
||||
def get_installed_version(self) -> str:
|
||||
return str(self._params.get(_VERSION_PARAM) or "")
|
||||
|
||||
@staticmethod
|
||||
def ensure_directories_exist() -> None:
|
||||
for directory in (Paths.mapd_root(), VENDOR_MAPD_BIN_DIR):
|
||||
os.makedirs(directory, exist_ok=True)
|
||||
def verify(self) -> bool:
|
||||
"""True iff the on-disk binary matches the pinned hash; quarantines a wrong one."""
|
||||
expected = self._expected_hash()
|
||||
if not expected:
|
||||
cloudlog.error("iq_maps: pinned mapd hash missing, vendor binary cannot be verified")
|
||||
return False
|
||||
|
||||
def check_and_download(self) -> None:
|
||||
if not self._binary_up_to_date():
|
||||
self._provision()
|
||||
|
||||
def non_prebuilt_install(self) -> None:
|
||||
if self._on_metered_link():
|
||||
self._say("Metered connection detected — offline maps engine will not download here.")
|
||||
time.sleep(5)
|
||||
return
|
||||
if not os.path.isfile(VENDOR_MAPD_PATH):
|
||||
# the binary is a tracked file: the updater/bundle restores it
|
||||
self._say("Offline maps engine missing; it will be restored by the next update.")
|
||||
self._params.remove(_VERSION_PARAM)
|
||||
return False
|
||||
|
||||
try:
|
||||
self.ensure_directories_exist()
|
||||
if self._binary_up_to_date():
|
||||
self._say("Offline maps engine already present and current.")
|
||||
time.sleep(0.1)
|
||||
return
|
||||
current = sha256_of_file(VENDOR_MAPD_PATH)
|
||||
except OSError:
|
||||
cloudlog.exception("iq_maps: vendor mapd unreadable")
|
||||
return False
|
||||
|
||||
if self._block_until_online():
|
||||
self._say(f"Retrieving offline maps engine [{self.get_installed_version() or 'none'}] -> [{VENDOR_RELEASE_TAG}]")
|
||||
time.sleep(0.1)
|
||||
self._provision()
|
||||
self._spinner.close()
|
||||
except Exception as exc: # noqa: BLE001
|
||||
self._announce_failure(exc)
|
||||
if current == expected:
|
||||
stamp_vendor_version(VENDOR_RELEASE_TAG, self._params)
|
||||
try:
|
||||
os.remove(QUARANTINE_PATH)
|
||||
except OSError:
|
||||
pass
|
||||
self._say(f"Offline maps engine verified [{VENDOR_RELEASE_TAG}]")
|
||||
return True
|
||||
|
||||
# a foreign binary — e.g. a stock release download from the retired fetch
|
||||
# path — must never run: quarantine it where manager can't start it
|
||||
cloudlog.error(f"iq_maps: vendor mapd hash {current[:12]} != pinned {expected[:12]}, quarantining")
|
||||
self._say("Offline maps engine failed verification; quarantined until the next update.")
|
||||
try:
|
||||
os.replace(VENDOR_MAPD_PATH, QUARANTINE_PATH)
|
||||
except OSError:
|
||||
cloudlog.exception("iq_maps: vendor mapd quarantine failed")
|
||||
return False
|
||||
self._params.remove(_VERSION_PARAM)
|
||||
try:
|
||||
raise RuntimeError(f"vendor mapd hash mismatch quarantined: {current}")
|
||||
except RuntimeError as exc:
|
||||
sentry.init(sentry.SentryProject.SELFDRIVE)
|
||||
sentry.capture_exception(exc)
|
||||
return False
|
||||
|
||||
# --- internal ------------------------------------------------------------
|
||||
def _expected_hash(self) -> str:
|
||||
try:
|
||||
with open(_HASH_FILE) as f:
|
||||
@@ -94,88 +101,13 @@ class VendorMapdInstaller:
|
||||
except OSError:
|
||||
return ""
|
||||
|
||||
def _binary_up_to_date(self) -> bool:
|
||||
if not os.path.exists(VENDOR_MAPD_PATH):
|
||||
return False
|
||||
if self.get_installed_version() != VENDOR_RELEASE_TAG:
|
||||
return False
|
||||
reference = self._expected_hash()
|
||||
if not reference:
|
||||
return True
|
||||
try:
|
||||
return sha256_of_file(VENDOR_MAPD_PATH) == reference
|
||||
except OSError:
|
||||
return False
|
||||
|
||||
def _provision(self) -> None:
|
||||
self.ensure_directories_exist()
|
||||
if self._retrieve_binary():
|
||||
stamp_vendor_version(VENDOR_RELEASE_TAG, self._params)
|
||||
|
||||
def _retrieve_binary(self) -> bool:
|
||||
staging = Path(f"{VENDOR_MAPD_PATH}.part")
|
||||
last_error: Exception | None = None
|
||||
for attempt in range(1, _FETCH_ATTEMPTS + 1):
|
||||
try:
|
||||
with requests.get(VENDOR_RELEASE_URL, stream=True, timeout=_HTTP_TIMEOUT_S) as resp:
|
||||
resp.raise_for_status()
|
||||
with open(staging, "wb") as out:
|
||||
for chunk in resp.iter_content(chunk_size=1 << 16):
|
||||
out.write(chunk)
|
||||
out.flush()
|
||||
os.fsync(out.fileno())
|
||||
os.chmod(staging, os.lstat(staging).st_mode | stat.S_IXUSR | stat.S_IXGRP | stat.S_IXOTH)
|
||||
staging.replace(VENDOR_MAPD_PATH)
|
||||
return True
|
||||
except requests.exceptions.RequestException as exc:
|
||||
last_error = exc
|
||||
self._say(f"offline maps fetch attempt {attempt}/{_FETCH_ATTEMPTS} did not complete ({exc})")
|
||||
time.sleep(0.5)
|
||||
staging.unlink(missing_ok=True)
|
||||
logging.error("offline maps engine could not be fetched after %d attempts: %s", _FETCH_ATTEMPTS, last_error)
|
||||
return False
|
||||
|
||||
def _on_metered_link(self) -> bool:
|
||||
sm = messaging.SubMaster(["deviceState"])
|
||||
return bool(sm["deviceState"].networkMetered)
|
||||
|
||||
def _block_until_online(self) -> bool:
|
||||
for i in range(1, _NET_PROBE_ATTEMPTS + 1):
|
||||
self._say(f"Waiting for a usable network connection... [{i}/{_NET_PROBE_ATTEMPTS}]")
|
||||
if self._link_reachable():
|
||||
return True
|
||||
time.sleep(_NET_PROBE_INTERVAL_S)
|
||||
return False
|
||||
|
||||
@staticmethod
|
||||
def _link_reachable() -> bool:
|
||||
try:
|
||||
requests.head(VENDOR_RELEASE_URL, timeout=10, allow_redirects=True)
|
||||
return True
|
||||
except requests.exceptions.RequestException as exc:
|
||||
logging.debug("network probe failed: %s", exc)
|
||||
return False
|
||||
|
||||
def _announce_failure(self, exc: Exception) -> None:
|
||||
for remaining in range(5, 0, -1):
|
||||
self._say(f"Offline maps engine unavailable; navigation stays online-only. Boot continues in {remaining}s...")
|
||||
time.sleep(1)
|
||||
logging.exception("vendor mapd install failed")
|
||||
sentry.init(sentry.SentryProject.SELFDRIVE)
|
||||
sentry.capture_exception(exc)
|
||||
|
||||
def _say(self, text: str) -> None:
|
||||
self._spinner.update(text)
|
||||
if self._spinner is not None:
|
||||
self._spinner.update(text)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
spinner = Spinner()
|
||||
installer = VendorMapdInstaller(spinner)
|
||||
installer.ensure_directories_exist()
|
||||
if is_prebuilt():
|
||||
spinner.update(f"[DEBUG] Prebuilt build; vendor mapd install skipped. "
|
||||
f"target [{VENDOR_RELEASE_TAG}], param [{installer.get_installed_version()}]")
|
||||
stamp_vendor_version(VENDOR_RELEASE_TAG)
|
||||
else:
|
||||
spinner.update(f"Verifying vendor mapd install. prebuilt [{is_prebuilt()}]")
|
||||
installer.non_prebuilt_install()
|
||||
ok = VendorMapdInstaller(spinner).verify()
|
||||
spinner.close()
|
||||
sys.exit(0 if ok else 1)
|
||||
|
||||
@@ -4,6 +4,6 @@
|
||||
"dmonitoring_model_metadata.pkl": "31a86ab7a92dc0af088b15787a440dd3b210aa662e445a15145900e559a1b5c3",
|
||||
"dmonitoring_model_tinygrad.pkl": "806c0ea75df6bf6dfeb81b832314c68e31df5865a52d0359e6eeb76d93ad2b52"
|
||||
},
|
||||
"signature": "e1eeb5ce45774a816c8da2394e6ee35ebf700b71dff345e0141dbab8ff592349"
|
||||
"signature": "64740782bfd5b1720978aab24a2b1b37c99542f97db3c8637227c7412bb30bbf"
|
||||
}
|
||||
}
|
||||
|
||||
@@ -29,10 +29,12 @@ def _file_sha256(path: Path) -> str:
|
||||
@functools.lru_cache(maxsize=1)
|
||||
def _tinygrad_digest() -> str:
|
||||
h = hashlib.sha256()
|
||||
# mirror the SConscript glob: no hidden files/dirs (also excludes .git, which differs per clone), no pycache
|
||||
# mirror the SConscript glob: no hidden files/dirs (also excludes .git, which differs per clone), no pycache.
|
||||
# 'weights' holds untracked/gitignored model weights (e.g. iqvd yolov8n .safetensors) present on dev machines
|
||||
# but absent from a clean CI/device clone — hashing them makes the signature unreproducible (false STALE).
|
||||
def _included(p: Path) -> bool:
|
||||
rel = p.relative_to(TINYGRAD_DIR).parts
|
||||
return p.is_file() and '__pycache__' not in rel and not any(part.startswith('.') for part in rel)
|
||||
return p.is_file() and '__pycache__' not in rel and 'weights' not in rel and not any(part.startswith('.') for part in rel)
|
||||
files = sorted(p for p in TINYGRAD_DIR.rglob('*') if _included(p))
|
||||
for p in files:
|
||||
h.update(str(p.relative_to(BASEDIR)).encode())
|
||||
|
||||
@@ -6,7 +6,11 @@ class FanController:
|
||||
def __init__(self) -> None:
|
||||
self.last_ignition = False
|
||||
|
||||
def update(self, cur_temp: float, ignition: bool) -> int:
|
||||
def update(self, cur_temp: float, ignition: bool, max_cool: bool = False) -> int:
|
||||
if max_cool:
|
||||
self.last_ignition = ignition
|
||||
return 100
|
||||
|
||||
if cur_temp < 70.0:
|
||||
fan_pwr_out = 0
|
||||
elif cur_temp > 85.0:
|
||||
|
||||
@@ -432,8 +432,6 @@ def hardware_thread(end_event, hw_queue) -> None:
|
||||
all_comp_temp = all_temp_filter.update(max(temp_sources))
|
||||
msg.deviceState.maxTempC = all_comp_temp
|
||||
|
||||
msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
|
||||
|
||||
is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
|
||||
if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
|
||||
# if device is offroad and already hot without the extra onroad load,
|
||||
@@ -447,6 +445,10 @@ def hardware_thread(end_event, hw_queue) -> None:
|
||||
elif current_band.max_temp is not None and all_comp_temp > current_band.max_temp:
|
||||
thermal_status = list(THERMAL_BANDS.keys())[band_idx + 1]
|
||||
|
||||
# the car is running but temperature is blocking the start, so cool as fast as we can
|
||||
max_cool = (started_ts is None) and onroad_conditions["ignition"] and thermal_status >= ThermalStatus.red
|
||||
msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"], max_cool)
|
||||
|
||||
# **** starting logic ****
|
||||
|
||||
startup_conditions["up_to_date"] = True
|
||||
|
||||
@@ -41,6 +41,13 @@ class TestFanController:
|
||||
self.wind_up(controller, True)
|
||||
assert controller.update(100, True) == 100
|
||||
|
||||
@pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
|
||||
def test_max_cool(self, mocker, controller_class):
|
||||
controller = patched_controller(mocker, controller_class)
|
||||
self.wind_down(controller)
|
||||
assert controller.update(80, True, True) == 100
|
||||
assert controller.update(80, False, True) == 100
|
||||
|
||||
@pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
|
||||
def test_windup_speed(self, mocker, controller_class):
|
||||
controller = patched_controller(mocker, controller_class)
|
||||
|
||||
@@ -85,8 +85,13 @@ def affine_irq(val, action):
|
||||
@lru_cache
|
||||
def get_device_type():
|
||||
# lru_cache and cache can cause memory leaks when used in classes
|
||||
with open("/sys/firmware/devicetree/base/model") as f:
|
||||
model = f.read().strip('\x00')
|
||||
try:
|
||||
with open("/sys/firmware/devicetree/base/model") as f:
|
||||
model = f.read().strip('\x00')
|
||||
except FileNotFoundError:
|
||||
# off-device (e.g. the prebuilt build container fakes /TICI but has no
|
||||
# devicetree); import must not crash. Not a real device type.
|
||||
return "unknown"
|
||||
return model.split('comma ')[-1]
|
||||
|
||||
class Tici(HardwareBase):
|
||||
|
||||
Vendored
BIN
Binary file not shown.
Reference in New Issue
Block a user