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firestar5683
f45cc97134
Define host-to-Panda AOL intent, policy and wire contracts with neutral defaults before vehicle adapters register capabilities. Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com>
44 lines
2.5 KiB
Markdown
44 lines
2.5 KiB
Markdown
# Independent lateral and longitudinal control
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AOL connects Card button intent, SelfdriveD axis decisions, Controls output,
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driver monitoring and acknowledged Panda permissions. Either control axis can
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remain active independently while its permission is valid.
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The shared owner handles settings, gestures, transport, freshness and axis
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arbitration. Vehicle adapters in `starpilot/car/<brand>/aol.py` own supported
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CarParams, safety profiles and button assignments. `policy.py` defines the
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contract; `vehicle.py` dispatches to registered adapters. Unknown or malformed
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configurations receive no capability. Settings availability, intent admission
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and ordinary runtime support are separate: a saved preference cannot grant
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steering or longitudinal permission. Current adapters do not cover the entire
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vehicle catalog.
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Card publishes desired intent; SelfdriveD resolves the two desired axes; Controls
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requires matching current native permission before actuating either axis.
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Session changes, expired messages, invalid required CAN and the existing
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actuator limits still apply. Lateral-only operation uses engaged driver
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monitoring independently of the Always On DM preference.
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Intent and axis messages have a 30 ms freshness bound; native acknowledgments
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have a 200 ms bound. The host and pandad use the same monotonic clock. A new
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session first negotiates an acknowledged zero-axis request. These checks are
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independent of each vehicle's Panda safety policy.
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`aolAxisState` uses custom slot 16. Intent and safety use reserved Data events 125
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and 124 with bounded, versioned flat Cap'n Proto payloads. Mapd slots 17–19 remain
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separate. Decode stored messages with their writing schema; never reinterpret
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an incompatible cache or reuse an occupied event identifier. Upstream vehicle
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schemas remain unchanged.
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`AolBrakePauseSpeedMps` stores meters per second. If absent, `PauseAOLOnBrake`
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retains its historical effective meters-per-second value, regardless of the old
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UI label. An invalid threshold disables the additional AOL request without
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rewriting the preference. Settings convert display units when writing the new
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key. Invalid CAN or transfer of button ownership cancels an incomplete hold;
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a deliberate axis pause remains latched until changed by the driver.
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Common transport and arbitration tests live in `aol/tests`. Vehicle host tests
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live in `selfdrive/car/tests`, and native safety tests in
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`opendbc_repo/opendbc/safety/tests`. Keep new vehicle admission and its positive
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and negative safety tests with the corresponding vehicle port.
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