diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
index edf6d4786..6be64c131 100644
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -39,9 +39,9 @@ RUN cd /tmp && pipenv install --deploy --system
ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
-RUN git clone --branch v0.6 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
+RUN git clone --branch v0.6.2 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
RUN pip install -r /tmp/openpilot/tools/requirements.txt
-RUN pip install fastcluster==1.1.20 scipy==0.19.1
+RUN pip install fastcluster==1.1.20 scipy==0.19.1 dictdiffer==0.8.0 azure-batch==4.1.3 azure-common==1.1.16 azure-nspkg==3.0.0 azure-storage-blob==1.3.1 azure-storage-common==1.3.0 azure-storage-nspkg==3.0.0
COPY ./.pylintrc /tmp/openpilot/.pylintrc
COPY ./common /tmp/openpilot/common
diff --git a/README.md b/README.md
index a4e47fc44..abcc29979 100644
--- a/README.md
+++ b/README.md
@@ -72,6 +72,7 @@ Supported Cars
| GMC3 | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7|
| Holden3 | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7|
| Honda | Accord 2018-19 | All | Yes | Stock | 0mph | 3mph | Bosch |
+| Honda | Accord Hybrid 2018-19 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Civic Sedan/Coupe 2016-18| Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Yes | Stock | 0mph | 2mph | Bosch |
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
@@ -98,18 +99,21 @@ Supported Cars
| Toyota | Avalon 2016 | TSS-P | Yes | Yes2| 20mph1| 0mph | Toyota |
| Toyota | Avalon 2017-18 | All | Yes | Yes2| 20mph1| 0mph | Toyota |
| Toyota | Camry 2018-19 | All | Yes | Stock | 0mph5 | 0mph | Toyota |
+| Toyota | Camry Hybrid 2018-19 | All | Yes | Stock | 0mph5 | 0mph | Toyota |
| Toyota | C-HR 2017-19 | All | Yes | Stock | 0mph | 0mph | Toyota |
+| Toyota | C-HR Hybrid 2017-19 | All | Yes | Stock | 0mph | 0mph | Toyota |
| Toyota | Corolla 2017-19 | All | Yes | Yes2| 20mph1| 0mph | Toyota |
| Toyota | Corolla 2020 | All | Yes | Yes | 0mph | 0mph | Toyota |
| Toyota | Corolla Hatchback 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
| Toyota | Highlander 2017-19 | All | Yes | Yes2| 0mph | 0mph | Toyota |
-| Toyota | Highlander Hybrid 2018 | All | Yes | Yes2| 0mph | 0mph | Toyota |
+| Toyota | Highlander Hybrid 2017-19| All | Yes | Yes2| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes2| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-19 | All | Yes | Yes2| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-19 | All | Yes | Yes2| 0mph | 0mph | Toyota |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes2| 20mph1| 0mph | Toyota |
| Toyota | Rav4 2017-18 | All | Yes | Yes2| 20mph1| 0mph | Toyota |
| Toyota | Rav4 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
+| Toyota | Rav4 Hybrid 2016 | TSS-P | Yes | Yes2| 0mph | 0mph | Toyota |
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes2| 0mph | 0mph | Toyota |
| Toyota | Sienna 2018 | All | Yes | Yes2| 0mph | 0mph | Toyota |
diff --git a/RELEASES.md b/RELEASES.md
index f28977e92..d847bb3f0 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,14 @@
+Version 0.6.3 (2019-08-12)
+========================
+ * Alert sounds from EON: requires NEOS update
+ * Improve driver monitoring: eye tracking and improved awareness logic
+ * Improve path prediction with new driving model
+ * Improve lane positioning with wide lanes and exits
+ * Improve lateral control on RAV4
+ * Slow down for turns using model
+ * Open sourced regression test to verify outputs against reference logs
+ * Open sourced regression test to sanity check all car models
+
Version 0.6.2 (2019-07-29)
========================
* New driving model!
diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
index 303118348..edabd38ec 100644
Binary files a/apk/ai.comma.plus.offroad.apk and b/apk/ai.comma.plus.offroad.apk differ
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 21d818265..1e5e65f72 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -78,8 +78,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
commIssue @53;
tooDistracted @54;
posenetInvalid @55;
- manualSteeringRequired @56;
- manualSteeringRequiredBlinkersOn @57;
+ soundsUnavailable @56;
+ manualSteeringRequired @57;
+ manualSteeringRequiredBlinkersOn @58;
}
}
@@ -111,6 +112,7 @@ struct CarState {
steeringAngle @7 :Float32; # deg
steeringRate @15 :Float32; # deg/s
steeringTorque @8 :Float32; # TODO: standardize units
+ steeringTorqueEps @27 :Float32; # TODO: standardize units
steeringPressed @9 :Bool; # if the user is using the steering wheel
# cruise state
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 5f76cbd74..479e5ec64 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -439,7 +439,8 @@ struct ControlsState @0x97ff69c53601abf1 {
alertSize @39 :AlertSize;
alertBlinkingRate @42 :Float32;
alertType @44 :Text;
- alertSound @45 :Text;
+ alertSoundDEPRECATED @45 :Text;
+ alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
awarenessStatus @26 :Float32;
angleModelBias @27 :Float32;
gpsPlannerActive @40 :Bool;
@@ -1681,6 +1682,8 @@ struct DriverMonitoring {
faceProb @5 :Float32;
leftEyeProb @6 :Float32;
rightEyeProb @7 :Float32;
+ leftBlinkProb @8 :Float32;
+ rightBlinkProb @9 :Float32;
}
struct Boot {
diff --git a/common/api/__init__.py b/common/api/__init__.py
index 2dc2ffa99..e457272a1 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -1,7 +1,26 @@
+import jwt
import requests
+from datetime import datetime, timedelta
from selfdrive.version import version
+class Api(object):
+ def __init__(self, dongle_id, private_key):
+ self.dongle_id = dongle_id
+ self.private_key = private_key
+
+ def get(self, *args, **kwargs):
+ return self.request('GET', *args, **kwargs)
+
+ def post(self, *args, **kwargs):
+ return self.request('POST', *args, **kwargs)
+
+ def request(self, method, endpoint, timeout=None, access_token=None, **params):
+ return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+ def get_token(self):
+ return jwt.encode({'identity': self.dongle_id, 'exp': datetime.utcnow() + timedelta(hours=1)}, self.private_key, algorithm='RS256')
+
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
backend = "https://api.commadotai.com/"
diff --git a/installer/updater/Makefile b/installer/updater/Makefile
index d9444e6c5..d252fc2aa 100644
--- a/installer/updater/Makefile
+++ b/installer/updater/Makefile
@@ -31,7 +31,9 @@ FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
.PHONY: all
all: updater
-OBJS = courbd.ttf.o \
+OBJS = opensans_regular.ttf.o \
+ opensans_semibold.ttf.o \
+ opensans_bold.ttf.o \
../../selfdrive/common/touch.o \
../../selfdrive/common/framebuffer.o \
$(PHONELIBS)/json11/json11.o \
@@ -50,7 +52,15 @@ updater: updater.o $(OBJS)
-lcutils -lm -llog
strip updater
-courbd.ttf.o: ../../selfdrive/assets/courbd.ttf
+opensans_regular.ttf.o: ../../selfdrive/assets/fonts/opensans_regular.ttf
+ @echo "[ bin2o ] $@"
+ cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
+
+opensans_bold.ttf.o: ../../selfdrive/assets/fonts/opensans_bold.ttf
+ @echo "[ bin2o ] $@"
+ cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
+
+opensans_semibold.ttf.o: ../../selfdrive/assets/fonts/opensans_semibold.ttf
@echo "[ bin2o ] $@"
cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
diff --git a/installer/updater/update.json b/installer/updater/update.json
index 827a44b10..2715fcacc 100644
--- a/installer/updater/update.json
+++ b/installer/updater/update.json
@@ -1,7 +1,7 @@
{
- "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f.zip",
- "ota_hash": "c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f",
- "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a.img",
+ "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11.zip",
+ "ota_hash": "4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11",
+ "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662.img",
"recovery_len": 15136044,
- "recovery_hash": "af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a"
+ "recovery_hash": "31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662"
}
diff --git a/installer/updater/updater b/installer/updater/updater
index 857a78e6f..51886bd33 100755
Binary files a/installer/updater/updater and b/installer/updater/updater differ
diff --git a/installer/updater/updater.cc b/installer/updater/updater.cc
index 58fab3241..89ac7f635 100644
--- a/installer/updater/updater.cc
+++ b/installer/updater/updater.cc
@@ -43,8 +43,12 @@ const char *manifest_url = MANIFEST_URL_EON;
#define UPDATE_DIR "/data/neoupdate"
-extern const uint8_t bin_courbd[] asm("_binary_courbd_ttf_start");
-extern const uint8_t bin_courbd_end[] asm("_binary_courbd_ttf_end");
+extern const uint8_t bin_opensans_regular[] asm("_binary_opensans_regular_ttf_start");
+extern const uint8_t bin_opensans_regular_end[] asm("_binary_opensans_regular_ttf_end");
+extern const uint8_t bin_opensans_semibold[] asm("_binary_opensans_semibold_ttf_start");
+extern const uint8_t bin_opensans_semibold_end[] asm("_binary_opensans_semibold_ttf_end");
+extern const uint8_t bin_opensans_bold[] asm("_binary_opensans_bold_ttf_start");
+extern const uint8_t bin_opensans_bold_end[] asm("_binary_opensans_bold_ttf_end");
namespace {
@@ -148,7 +152,9 @@ struct Updater {
FramebufferState *fb = NULL;
NVGcontext *vg = NULL;
- int font;
+ int font_regular;
+ int font_semibold;
+ int font_bold;
std::thread update_thread_handle;
@@ -182,14 +188,21 @@ struct Updater {
vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
assert(vg);
- font = nvgCreateFontMem(vg, "courbd", (unsigned char*)bin_courbd, (bin_courbd_end - bin_courbd), 0);
- assert(font >= 0);
- b_w = 600;
+ font_regular = nvgCreateFontMem(vg, "opensans_regular", (unsigned char*)bin_opensans_regular, (bin_opensans_regular_end - bin_opensans_regular), 0);
+ assert(font_regular >= 0);
+
+ font_semibold = nvgCreateFontMem(vg, "opensans_semibold", (unsigned char*)bin_opensans_semibold, (bin_opensans_semibold_end - bin_opensans_semibold), 0);
+ assert(font_semibold >= 0);
+
+ font_bold = nvgCreateFontMem(vg, "opensans_bold", (unsigned char*)bin_opensans_bold, (bin_opensans_bold_end - bin_opensans_bold), 0);
+ assert(font_bold >= 0);
+
+ b_w = 640;
balt_x = 200;
b_x = fb_w-b_w-200;
- b_y = 700;
- b_h = 250;
+ b_y = 720;
+ b_h = 220;
state = CONFIRMATION;
@@ -286,14 +299,14 @@ struct Updater {
std::string stage_download(std::string url, std::string hash, std::string name) {
std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
- set_progress("downloading " + name + "...");
+ set_progress("Downloading " + name + "...");
bool r = download_file(url, out_fn);
if (!r) {
set_error("failed to download " + name);
return "";
}
- set_progress("verifying " + name + "...");
+ set_progress("Verifying " + name + "...");
std::string fn_hash = sha256_file(out_fn);
printf("got %s hash: %s\n", name.c_str(), hash.c_str());
if (fn_hash != hash) {
@@ -323,7 +336,7 @@ struct Updater {
const int EON = (access("/EON", F_OK) != -1);
- set_progress("finding latest version...");
+ set_progress("Finding latest version...");
std::string manifest_s;
if (EON) {
manifest_s = download_string(curl, manifest_url);
@@ -364,10 +377,10 @@ struct Updater {
std::string recovery_fn;
if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
- set_progress("skipping recovery flash...");
+ set_progress("Skipping recovery flash...");
} else {
// only download the recovery if it differs from what's flashed
- set_progress("checking recovery...");
+ set_progress("Checking recovery...");
std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
@@ -393,7 +406,7 @@ struct Updater {
if (!recovery_fn.empty()) {
// flash recovery
- set_progress("flashing recovery...");
+ set_progress("Flashing recovery...");
FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
if (!flash_file) {
@@ -427,7 +440,7 @@ struct Updater {
fclose(recovery_dev);
fclose(flash_file);
- set_progress("verifying flash...");
+ set_progress("Verifying flash...");
std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
printf("new recovery hash: %s\n", new_recovery_hash.c_str());
@@ -447,7 +460,7 @@ struct Updater {
fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
fclose(cmd_file);
- set_progress("rebooting");
+ set_progress("Rebooting");
// remove the continue.sh so we come back into the setup.
// maybe we should go directly into the installer, but what if we don't come back with internet? :/
@@ -462,25 +475,32 @@ struct Updater {
// set_error("failed to reboot into recovery");
}
- void draw_ack_screen(const char *message, const char *button, const char *altbutton) {
- nvgFontSize(vg, 96.0f);
+ void draw_ack_screen(const char *title, const char *message, const char *button, const char *altbutton) {
nvgFillColor(vg, nvgRGBA(255,255,255,255));
- nvgTextAlign(vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
- nvgTextBox(vg, 50, 100, fb_w-100, message, NULL);
+ nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+
+ nvgFontFace(vg, "opensans_bold");
+ nvgFontSize(vg, 120.0f);
+ nvgTextBox(vg, 110, 220, fb_w-240, title, NULL);
+
+ nvgFontFace(vg, "opensans_regular");
+ nvgFontSize(vg, 86.0f);
+ nvgTextBox(vg, 130, 380, fb_w-260, message, NULL);
// draw button
if (button) {
nvgBeginPath(vg);
- nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
+ nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
nvgFill(vg);
nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
+ nvgFontFace(vg, "opensans_semibold");
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
nvgText(vg, b_x+b_w/2, b_y+b_h/2, button, NULL);
nvgBeginPath(vg);
- nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
+ nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
nvgStrokeWidth(vg, 5);
nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
nvgStroke(vg);
@@ -489,16 +509,17 @@ struct Updater {
// draw button
if (altbutton) {
nvgBeginPath(vg);
- nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
+ nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
nvgFill(vg);
nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
+ nvgFontFace(vg, "opensans_semibold");
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
nvgText(vg, balt_x+b_w/2, b_y+b_h/2, altbutton, NULL);
nvgBeginPath(vg);
- nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
+ nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
nvgStrokeWidth(vg, 5);
nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
nvgStroke(vg);
@@ -510,23 +531,27 @@ struct Updater {
nvgFontSize(vg, 64.0f);
nvgFillColor(vg, nvgRGBA(255,255,255,255));
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
- nvgTextBox(vg, 0, 700, fb_w, progress_text.c_str(), NULL);
+ nvgFontFace(vg, "opensans_bold");
+ nvgFontSize(vg, 86.0f);
+ nvgTextBox(vg, 0, 380, fb_w, progress_text.c_str(), NULL);
// draw progress bar
{
- int progress_width = 800;
+ int progress_width = 1000;
int progress_x = fb_w/2-progress_width/2;
- int progress_y = 768;
- int progress_height = 15;
+ int progress_y = 520;
+ int progress_height = 50;
- int powerprompt_y = 512;
- nvgText(vg, fb_w/2, powerprompt_y, "Ensure EON is connected to power", NULL);
+ int powerprompt_y = 312;
+ nvgFontFace(vg, "opensans_regular");
+ nvgFontSize(vg, 64.0f);
+ nvgText(vg, fb_w/2, 740, "Ensure EON is connected to power.", NULL);
NVGpaint paint = nvgBoxGradient(
vg, progress_x + 1, progress_y + 1,
- progress_width - 2, progress_height, 3, 4, nvgRGB(0, 32, 0), nvgRGB(0, 92, 0));
+ progress_width - 2, progress_height, 3, 4, nvgRGB(27, 27, 27), nvgRGB(27, 27, 27));
nvgBeginPath(vg);
- nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 3);
+ nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 12);
nvgFillPaint(vg, paint);
nvgFill(vg);
@@ -536,12 +561,12 @@ struct Updater {
paint = nvgBoxGradient(
vg, progress_x, progress_y,
bar_pos+1.5f, progress_height-1, 3, 4,
- nvgRGB(220, 100, 0), nvgRGB(128, 100, 0));
+ nvgRGB(245, 245, 245), nvgRGB(105, 105, 105));
nvgBeginPath(vg);
nvgRoundedRect(
vg, progress_x+1, progress_y+1,
- bar_pos, progress_height-2, 3);
+ bar_pos, progress_height-2, 12);
nvgFillPaint(vg, paint);
nvgFill(vg);
}
@@ -554,16 +579,16 @@ struct Updater {
switch (state) {
case CONFIRMATION:
- draw_ack_screen("An upgrade to NEOS is required.\n\n"
- "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB\nData on device shouldn't be lost.",
- "continue",
- "wifi");
+ draw_ack_screen("An update to NEOS is required.",
+ "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB. Existing data on device should not be lost.",
+ "Continue",
+ "Connect to WiFi");
break;
case RUNNING:
draw_progress_screen();
break;
case ERROR:
- draw_ack_screen(("ERROR: " + error_text + "\n\nYou will need to retry").c_str(), NULL, "exit");
+ draw_ack_screen("There was an error.", ("ERROR: " + error_text + "\n\nYou will need to retry").c_str(), NULL, "exit");
break;
}
@@ -604,9 +629,17 @@ struct Updater {
while (!do_exit) {
ui_update();
- glClearColor(0.19, 0.09, 0.2, 1.0);
+ glClearColor(0.08, 0.08, 0.08, 1.0);
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+ // background
+ nvgBeginPath(vg);
+ NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
+ nvgRGBA(0, 0, 0, 0), nvgRGBA(0, 0, 0, 255));
+ nvgFillPaint(vg, bg);
+ nvgRect(vg, 0, 0, fb_w, fb_h);
+ nvgFill(vg);
+
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
diff --git a/models/driving_model.dlc b/models/driving_model.dlc
index d06aad619..79181185f 100644
Binary files a/models/driving_model.dlc and b/models/driving_model.dlc differ
diff --git a/models/monitoring_model.dlc b/models/monitoring_model.dlc
index 47e71afe2..f7496fb92 100644
Binary files a/models/monitoring_model.dlc and b/models/monitoring_model.dlc differ
diff --git a/opendbc/acura_ilx_2016_can_generated.dbc b/opendbc/acura_ilx_2016_can_generated.dbc
index e2e853ea1..75557b1e7 100644
--- a/opendbc/acura_ilx_2016_can_generated.dbc
+++ b/opendbc/acura_ilx_2016_can_generated.dbc
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
BO_ 506 BRAKE_COMMAND: 8 ADAS
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
diff --git a/opendbc/acura_rdx_2018_can_generated.dbc b/opendbc/acura_rdx_2018_can_generated.dbc
index e40672eac..0fa62693c 100644
--- a/opendbc/acura_rdx_2018_can_generated.dbc
+++ b/opendbc/acura_rdx_2018_can_generated.dbc
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
BO_ 506 BRAKE_COMMAND: 8 ADAS
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
diff --git a/opendbc/generator/honda/_honda_2017.dbc b/opendbc/generator/honda/_honda_2017.dbc
index 77d29d429..ee9a1e648 100644
--- a/opendbc/generator/honda/_honda_2017.dbc
+++ b/opendbc/generator/honda/_honda_2017.dbc
@@ -85,21 +85,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
BO_ 506 BRAKE_COMMAND: 8 ADAS
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
diff --git a/opendbc/generator/toyota/_toyota_2017.dbc b/opendbc/generator/toyota/_toyota_2017.dbc
index 58cc33001..9084d65b4 100644
--- a/opendbc/generator/toyota/_toyota_2017.dbc
+++ b/opendbc/generator/toyota/_toyota_2017.dbc
@@ -33,7 +33,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -69,6 +69,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -94,7 +95,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -120,6 +130,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -152,6 +174,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -222,6 +267,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -245,6 +293,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/opendbc/generator/toyota/lexus_ct200h_2018_pt.dbc b/opendbc/generator/toyota/lexus_ct200h_2018_pt.dbc
new file mode 100644
index 000000000..55919570f
--- /dev/null
+++ b/opendbc/generator/toyota/lexus_ct200h_2018_pt.dbc
@@ -0,0 +1,37 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 548 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
\ No newline at end of file
diff --git a/opendbc/generator/toyota/lexus_is_2018_pt.dbc b/opendbc/generator/toyota/lexus_is_2018_pt.dbc
index 6548822fd..aebf81a16 100644
--- a/opendbc/generator/toyota/lexus_is_2018_pt.dbc
+++ b/opendbc/generator/toyota/lexus_is_2018_pt.dbc
@@ -11,7 +11,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -25,7 +25,7 @@ BO_ 610 EPS_STATUS: 5 EPS
BO_ 956 GEAR_PACKET: 8 XXX
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-BO_ 1009 PCM_CRUISE_3: 8 XXX
+BO_ 1009 PCM_CRUISE_ALT: 8 XXX
SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
diff --git a/opendbc/honda_civic_touring_2016_can_generated.dbc b/opendbc/honda_civic_touring_2016_can_generated.dbc
index 7e95e638b..a613aa067 100644
--- a/opendbc/honda_civic_touring_2016_can_generated.dbc
+++ b/opendbc/honda_civic_touring_2016_can_generated.dbc
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
BO_ 506 BRAKE_COMMAND: 8 ADAS
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
diff --git a/opendbc/honda_crv_touring_2016_can_generated.dbc b/opendbc/honda_crv_touring_2016_can_generated.dbc
index 1e25cbf79..94e20b137 100644
--- a/opendbc/honda_crv_touring_2016_can_generated.dbc
+++ b/opendbc/honda_crv_touring_2016_can_generated.dbc
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
BO_ 506 BRAKE_COMMAND: 8 ADAS
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
diff --git a/opendbc/honda_fit_ex_2018_can_generated.dbc b/opendbc/honda_fit_ex_2018_can_generated.dbc
index fe3a4735c..4103fa29c 100644
--- a/opendbc/honda_fit_ex_2018_can_generated.dbc
+++ b/opendbc/honda_fit_ex_2018_can_generated.dbc
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
BO_ 506 BRAKE_COMMAND: 8 ADAS
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
diff --git a/opendbc/honda_odyssey_exl_2018_generated.dbc b/opendbc/honda_odyssey_exl_2018_generated.dbc
index 3a95af4b2..1bc6e96c1 100644
--- a/opendbc/honda_odyssey_exl_2018_generated.dbc
+++ b/opendbc/honda_odyssey_exl_2018_generated.dbc
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
BO_ 506 BRAKE_COMMAND: 8 ADAS
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
diff --git a/opendbc/honda_pilot_touring_2017_can_generated.dbc b/opendbc/honda_pilot_touring_2017_can_generated.dbc
index 50f2911a8..c19871b9e 100644
--- a/opendbc/honda_pilot_touring_2017_can_generated.dbc
+++ b/opendbc/honda_pilot_touring_2017_can_generated.dbc
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
BO_ 506 BRAKE_COMMAND: 8 ADAS
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
diff --git a/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
index 725acb553..6d8186c19 100644
--- a/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
+++ b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
BO_ 506 BRAKE_COMMAND: 8 ADAS
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
diff --git a/opendbc/lexus_ct200h_2018_pt_generated.dbc b/opendbc/lexus_ct200h_2018_pt_generated.dbc
new file mode 100644
index 000000000..6e41a0218
--- /dev/null
+++ b/opendbc/lexus_ct200h_2018_pt_generated.dbc
@@ -0,0 +1,384 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+ NS_DESC_
+ CM_
+ BA_DEF_
+ BA_
+ VAL_
+ CAT_DEF_
+ CAT_
+ FILTER
+ BA_DEF_DEF_
+ EV_DATA_
+ ENVVAR_DATA_
+ SGTYPE_
+ SGTYPE_VAL_
+ BA_DEF_SGTYPE_
+ BA_SGTYPE_
+ SIG_TYPE_REF_
+ VAL_TABLE_
+ SIG_GROUP_
+ SIG_VALTYPE_
+ SIGTYPE_VALTYPE_
+ BO_TX_BU_
+ BA_DEF_REL_
+ BA_REL_
+ BA_DEF_DEF_REL_
+ BU_SG_REL_
+ BU_EV_REL_
+ BU_BO_REL_
+ SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS CGW
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_ct200h_2018_pt.dbc starts here"
+
+
+
+BO_ 548 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
\ No newline at end of file
diff --git a/opendbc/lexus_gs300h_2017_pt_generated.dbc b/opendbc/lexus_gs300h_2017_pt_generated.dbc
index 201098af8..d6de09493 100644
--- a/opendbc/lexus_gs300h_2017_pt_generated.dbc
+++ b/opendbc/lexus_gs300h_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/opendbc/lexus_is_2018_pt_generated.dbc b/opendbc/lexus_is_2018_pt_generated.dbc
index a7acb08db..10a0096f0 100644
--- a/opendbc/lexus_is_2018_pt_generated.dbc
+++ b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
@@ -309,7 +358,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -323,7 +372,7 @@ BO_ 610 EPS_STATUS: 5 EPS
BO_ 956 GEAR_PACKET: 8 XXX
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-BO_ 1009 PCM_CRUISE_3: 8 XXX
+BO_ 1009 PCM_CRUISE_ALT: 8 XXX
SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
diff --git a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
index cbc770aa1..4444ec852 100644
--- a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/opendbc/lexus_rx_350_2016_pt_generated.dbc b/opendbc/lexus_rx_350_2016_pt_generated.dbc
index 18126133d..b132c86dd 100644
--- a/opendbc/lexus_rx_350_2016_pt_generated.dbc
+++ b/opendbc/lexus_rx_350_2016_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
index 6f01126fa..e11ee65b6 100644
--- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/opendbc/toyota_2017_ref_pt.dbc b/opendbc/toyota_2017_ref_pt.dbc
new file mode 100644
index 000000000..2622c9f42
--- /dev/null
+++ b/opendbc/toyota_2017_ref_pt.dbc
@@ -0,0 +1,1313 @@
+VERSION ""
+
+
+NS_ :
+ NS_DESC_
+ CM_
+ BA_DEF_
+ BA_
+ VAL_
+ CAT_DEF_
+ CAT_
+ FILTER
+ BA_DEF_DEF_
+ EV_DATA_
+ ENVVAR_DATA_
+ SGTYPE_
+ SGTYPE_VAL_
+ BA_DEF_SGTYPE_
+ BA_SGTYPE_
+ SIG_TYPE_REF_
+ VAL_TABLE_
+ SIG_GROUP_
+ SIG_VALTYPE_
+ SIGTYPE_VALTYPE_
+ BO_TX_BU_
+ BA_DEF_REL_
+ BA_REL_
+ BA_DEF_DEF_REL_
+ BU_SG_REL_
+ BU_EV_REL_
+ BU_BO_REL_
+ SG_MUL_VAL_
+
+BS_:
+
+BU_: AFS BSR CGW CSR DS1 FCM FRD KSS MAV SCS Vector__XXX
+
+
+BO_ 1196 ABG1D50: 8 CGW
+ SG_ DRABG01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRABG02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRABG03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRABG04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRABG05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRABG06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRABG07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRABG08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1212 ABG1D51: 8 CGW
+ SG_ DRABG09 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRABG10 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRABG11 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRABG12 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRABG13 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRABG14 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRABG15 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRABG16 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 945 ABG1S01: 8 CGW
+ SG_ CDT : 22|3@0+ (1,0) [0|0] "" DS1
+ SG_ AB : 19|2@0+ (1,0) [0|0] "" DS1
+ SG_ DBKLAB : 17|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PODT : 27|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBKLAB : 25|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ EDRTRG : 44|2@0+ (1,0) [0|0] "" DS1
+
+BO_ 836 ACC1F01: 8 DS1
+ SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
+ SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
+ SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
+ SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
+ SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
+ SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
+ SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACCF01SM : 63|8@0+ (1,0) [0|0] "" FCM
+
+BO_ 1227 ACC1N01: 8 DS1
+ SG_ ACCNID : 7|8@0+ (1,0) [0|0] "" CGW
+ SG_ ACCSNG : 15|1@0+ (1,0) [0|0] "" CGW
+ SG_ ACCSPF : 23|16@0+ (1,0) [0|0] "" CGW
+ SG_ ACCREV : 39|32@0+ (1,0) [0|0] "" CGW
+
+BO_ 835 ACC1S03: 8 DS1
+ SG_ ATACC2 : 7|16@0- (0.001,0) [0|0] "m/s^2" Vector__XXX
+ SG_ ACCTYPE : 23|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XTRGT2 : 21|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XLTMD2 : 20|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LCDT2 : 19|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LCNG : 18|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SMC : 17|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ STOKJD : 31|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PMTBRKG : 30|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LVSTP : 29|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LCCWOK : 25|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LCBW2 : 24|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CACC : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AT_RAW : 47|8@0- (0.05,0) [0|0] "m/s^2" Vector__XXX
+ SG_ ACC03SUM : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 896 ACN1S01: 8 CGW
+ SG_ R_AC2 : 6|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ R_HTR : 5|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ECOSW : 2|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ R_EGON : 1|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BLWON : 15|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SCAC : 13|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CGIH : 23|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ FAN_AC : 22|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACHI : 20|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACMAX : 19|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ R_VSCUS : 31|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ R_SHTR : 30|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ R_PTC : 29|2@0+ (1,0) [0|0] "piece" Vector__XXX
+ SG_ GNRTIH : 27|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ R_COL_TM : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ R_HET_TM : 24|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TAMOUT : 55|8@0- (0.625,0) [0|0] "Ž" Vector__XXX
+
+BO_ 897 ACN1S04: 8 CGW
+ SG_ R_ACCALL : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ R_AC_WNG : 6|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ R_SW_CON : 5|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ R_BEEP : 4|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_RA_AUT : 3|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_RA_AC : 2|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_RA_LO : 1|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_RA_HI : 0|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_AUTO_D : 15|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_AUTO_P : 14|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_DEF : 13|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_RRDEF : 12|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_RFAUT : 11|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_REC : 10|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_FRS : 9|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_AC : 8|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_MHTR : 23|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_WIPD : 22|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_DUSY : 21|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_SWNG : 20|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_BLW_F : 19|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_OAUT_D : 31|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_OLET_D : 30|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_OAUT_P : 27|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_OLET_P : 26|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ST_BMN_F : 39|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_AIRPR : 47|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_O2 : 46|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_PLSM : 45|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_KAFUN : 43|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_SAFS : 42|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ I_ACOFF : 41|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ R_ONSCRN : 40|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 944 ACN1S07: 6 CGW
+ SG_ RDEF : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MHTR : 6|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TR_TEMP : 15|8@0+ (0.25,-6.5) [0|0] "Ž" Vector__XXX
+ SG_ ACN_AMB : 31|8@0+ (1,0) [0|0] "Ž" CSR,DS1,FCM
+ SG_ AC_AMB05 : 44|1@0+ (1,0) [0|0] "Ž" Vector__XXX
+ SG_ AC_MODE : 43|2@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1250 AFS1N01: 8 AFS
+ SG_ AFSNID : 7|8@0+ (1,0) [0|0] "" CGW
+ SG_ AFSSNG : 15|1@0+ (1,0) [0|0] "" CGW
+ SG_ AFSSPF : 23|16@0+ (1,0) [0|0] "" CGW
+ SG_ AFSREV : 39|32@0+ (1,0) [0|0] "" CGW
+
+BO_ 913 AFS1S01: 8 AFS
+ SG_ HLLI : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AZB_ADV : 5|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ HEDH_AZB : 3|1@0+ (1,0) [0|0] "" FCM
+ SG_ AZB_IND : 13|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AZB_HIND : 11|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AZB_PRE : 10|1@0+ (1,0) [0|0] "" FCM
+ SG_ LED_HLI : 9|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LPECU_PR : 24|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 845 AFS1S02: 5 AFS
+ SG_ AHRR : 17|10@0+ (0.0048828125,0) [0|0] "V" Vector__XXX
+ SG_ AHVLD : 39|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AHFAIL : 38|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1044 AHB1S01: 8 FCM
+ SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX
+ SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 900 AVN1S01: 6 CGW
+ SG_ RDC : 7|4@0+ (1,0) [0|0] "" SCS
+ SG_ CONFID01 : 3|2@0+ (1,0) [0|0] "" SCS
+ SG_ CONF : 1|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LYT : 15|4@0+ (1,0) [0|0] "" SCS
+ SG_ DRVW : 9|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MWMP : 8|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ GRAD : 23|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ HARSHID : 19|4@0+ (1,0) [0|0] "" SCS
+ SG_ BRANCH : 27|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ HARSH : 35|2@0+ (1,0) [0|0] "" SCS
+ SG_ TOLLGATE : 33|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TUNL : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LEAVEOUT : 47|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MRGLANE : 46|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LVLANE : 45|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 902 AVN1S03: 6 CGW
+ SG_ ANS : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CRS1 : 15|1@0+ (1,0) [0|0] "" SCS
+ SG_ RQAC : 14|7@0+ (0.02,0) [0|0] "G" Vector__XXX
+ SG_ GUID : 23|1@0+ (1,0) [0|0] "" SCS
+ SG_ GYRO : 22|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ NCRN : 21|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CRN6 : 20|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CRN5 : 19|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CRN3 : 18|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CRN2 : 17|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CRN1 : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CONFID03 : 31|2@0+ (1,0) [0|0] "" SCS
+ SG_ CURV : 29|2@0+ (1,0) [0|0] "" SCS
+ SG_ CVST : 27|1@0+ (1,0) [0|0] "" SCS
+ SG_ NAVI_STR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MIND : 25|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ONOFF : 24|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ HWPB : 39|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RAD : 38|7@0+ (5,0) [0|0] "m" SCS
+ SG_ AFS_SW : 41|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AVS_SW : 40|1@0+ (1,0) [0|0] "" SCS
+
+BO_ 911 AVN1S07: 8 CGW
+ SG_ TOFC_RST : 6|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SL_CSTM : 3|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SL_RMDG : 2|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ST_RTCOM : 1|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AVN07VLD : 0|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ST_UCST : 15|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RSCOM51 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RSCOM52 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RSCOM53 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RSCOM54 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RSCOM55 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RSCOM56 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 905 AVN1S08: 8 CGW
+ SG_ VVSW : 7|3@0+ (1,0) [0|0] "" CSR
+ SG_ BZV : 4|3@0+ (1,0) [0|0] "" CSR
+ SG_ DFS : 1|2@0+ (1,0) [0|0] "" CSR
+ SG_ BZ_M_SW : 15|1@0+ (1,0) [0|0] "" CSR
+ SG_ VOL_SW : 14|1@0+ (1,0) [0|0] "" CSR
+ SG_ BM : 13|1@0+ (1,0) [0|0] "" CSR
+ SG_ DOFR : 12|1@0+ (1,0) [0|0] "" CSR
+ SG_ RDSW : 11|1@0+ (1,0) [0|0] "" CSR
+ SG_ FDSW : 10|1@0+ (1,0) [0|0] "" CSR
+ SG_ RBSW : 9|1@0+ (1,0) [0|0] "" CSR
+ SG_ FBSW : 8|1@0+ (1,0) [0|0] "" CSR
+ SG_ NVDP_OK : 23|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DEVICE : 22|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DISPSIZE : 31|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ HPTCSW_L : 30|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ HPTCSW_R : 29|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ HPTCSW_E : 28|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_MODE : 27|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VARBGM : 26|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ WBGM : 24|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ X_LL : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ Y_LL : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ X_RH : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ Y_RH : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 998 AVN1S11: 5 CGW
+ SG_ SENSPFM : 7|3@0+ (1,0) [0|0] "" SCS
+ SG_ SENSFAIL : 4|3@0+ (1,0) [0|0] "" SCS
+ SG_ CONFID11 : 1|2@0+ (1,0) [0|0] "" SCS
+ SG_ CONFMMC : 15|8@0+ (1,0) [0|0] "" SCS
+ SG_ DISTERR : 23|8@0+ (1,0) [0|0] "" SCS
+ SG_ CONFLANE : 31|8@0+ (1,0) [0|0] "" SCS
+ SG_ CONFDIR : 39|8@0+ (1,0) [0|0] "" SCS
+
+BO_ 933 AVN1S13: 8 CGW
+ SG_ HUD_DISP : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRVSIDE : 6|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DT_GP : 5|6@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DT_UNIT : 15|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DIR_TURN : 12|5@0+ (11.25,0) [0|0] "degree" Vector__XXX
+ SG_ ROTARY : 23|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ROAD_TP1 : 22|15@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ROAD_TP2 : 39|16@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ N_H_UP : 55|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ COMPASS : 54|6@0+ (11.25,0) [0|0] "degree" Vector__XXX
+ SG_ DIR : 63|6@0+ (11.25,0) [0|0] "degree" Vector__XXX
+
+BO_ 936 AVN1S16: 5 CGW
+ SG_ NDADVSRY : 7|5@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ NDCAUTON : 15|5@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ NDSSLCT : 23|5@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ NDCNFDID : 18|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ NDINDST : 25|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AVN16SUM : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 999 AVN1S17: 7 CGW
+ SG_ AVN17VLD : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANEID17 : 6|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRVLANE : 3|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRV_SIDE : 12|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE_NS : 11|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE1FLG : 23|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE2FLG : 19|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE1DIR : 31|16@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE2DIR : 47|16@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1000 AVN1S18: 8 CGW
+ SG_ AVN18VLD : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANEID18 : 6|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE3FLG : 3|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE4FLG : 15|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE5FLG : 11|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE3DIR : 23|16@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE4DIR : 39|16@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE5DIR : 55|16@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1001 AVN1S19: 8 CGW
+ SG_ AVN19VLD : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANEID19 : 6|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE6FLG : 3|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE7FLG : 15|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE8FLG : 11|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE6DIR : 23|16@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE7DIR : 39|16@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LANE8DIR : 55|16@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1076 AVN1S20: 8 CGW
+ SG_ A_LNG_ST : 7|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_LANG : 5|6@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_LNGDB1 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_LNGDB2 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_LNGDB3 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_LNGDB4 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_LNGDB5 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_LNGDB6 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_LNGDB7 : 63|7@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_LNGCHG : 56|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1077 AVN1S21: 8 CGW
+ SG_ A_OPEN_S : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ OPENCHG : 6|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CAPSW_S : 5|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_CLR_S : 3|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DISP_BRT : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DISP_CNT : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MM_CLOCK : 31|11@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CLK_OFST : 36|4@0- (5,0) [0|0] "min" Vector__XXX
+ SG_ DST : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CLK_TYP : 47|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_UNTTMP : 45|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_UNTSP : 43|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_UNTDST : 41|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_UNTCSP : 55|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_CLRCHG : 52|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_TMPCHG : 51|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_SPCHG : 50|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_DSTCHG : 49|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_CSPCHG : 48|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ A_SPLM : 63|6@0+ (5,0) [0|0] "" Vector__XXX
+ SG_ A_UTSPLM : 57|2@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1043 AVN1S31: 8 CGW
+ SG_ GPSTM_Y : 7|8@0+ (1,0) [0|0] "year" Vector__XXX
+ SG_ GPSTM_MO : 15|8@0+ (1,0) [0|0] "month" Vector__XXX
+ SG_ GPSTM_D : 23|8@0+ (1,0) [0|0] "day" Vector__XXX
+ SG_ GPSTM_H : 31|8@0+ (1,0) [0|0] "hour" Vector__XXX
+ SG_ GPSTM_MI : 39|8@0+ (1,0) [0|0] "minute" Vector__XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ GMTDIF_H : 54|4@0+ (1,0) [0|0] "hour" Vector__XXX
+ SG_ GMTDIF_M : 50|6@0+ (1,0) [0|0] "minute" Vector__XXX
+ SG_ SUMMERTM : 60|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1020 BDB1S19: 8 CGW
+ SG_ SOLAR_R : 23|9@0+ (100,0) [0|0] "" Vector__XXX
+ SG_ SOLAR_L : 39|9@0+ (100,0) [0|0] "" Vector__XXX
+ SG_ N_LX : 55|13@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1005 BGM1S01: 2 CGW
+ SG_ WCAA : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ R_DISP : 1|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BGM_BEEP : 11|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BGM_MODE : 9|2@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1237 BSR1N01: 8 BSR
+ SG_ BSRNID : 7|8@0+ (1,0) [0|0] "" CGW
+ SG_ BSRSNG : 15|1@0+ (1,0) [0|0] "" CGW
+ SG_ BSRSPF : 23|16@0+ (1,0) [0|0] "" CGW
+ SG_ BSRREV : 39|32@0+ (1,0) [0|0] "" CGW
+
+BO_ 1014 BSR1S01: 8 BSR
+ SG_ BSD_STAT : 7|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BSD_SW : 15|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BSD_BUZ : 23|1@0+ (1,0) [0|0] "" CSR
+
+BO_ 1114 CGW1N02: 8 CGW
+ SG_ CGW2REV : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1228 CSR1N01: 8 CSR
+ SG_ CSRNID : 7|8@0+ (1,0) [0|0] "" CGW
+ SG_ CSRSNG : 15|1@0+ (1,0) [0|0] "" CGW
+ SG_ CSRSPF : 23|16@0+ (1,0) [0|0] "" CGW
+ SG_ CSRREV : 39|32@0+ (1,0) [0|0] "" CGW
+
+BO_ 918 CSR1S01: 7 CSR
+ SG_ CSV : 7|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CSSR : 4|2@0+ (1,0) [0|0] "" MAV
+ SG_ CSD : 2|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CSME : 1|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CSIN : 0|1@0+ (1,0) [0|0] "" MAV
+ SG_ FL_INFO : 15|4@0+ (1,0) [0|0] "" MAV
+ SG_ FR_INFO : 11|4@0+ (1,0) [0|0] "" MAV
+ SG_ RB_INFO : 23|4@0+ (1,0) [0|0] "" MAV
+ SG_ FC_INFO : 19|4@0+ (1,0) [0|0] "" MAV
+ SG_ RL_INFO : 31|4@0+ (1,0) [0|0] "" MAV
+ SG_ RR_INFO : 27|4@0+ (1,0) [0|0] "" MAV
+ SG_ CZV : 39|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VOT : 47|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ FCZD : 43|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RCZD : 42|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ FCDD : 41|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RCDD : 40|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VOL : 55|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CDG : 52|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MUTE : 49|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BZ_OFF : 48|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 869 DS11D70: 7 DS1
+ SG_ D_TRGJDG : 7|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_RESSW : 3|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_SETSW : 2|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_CANSW : 1|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_MAINSW : 0|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_VMCC : 15|8@0+ (1,0) [0|0] "km/h" Vector__XXX
+ SG_ D_VNCC : 23|8@0+ (1,0) [0|0] "km/h" Vector__XXX
+ SG_ D_CCREQ : 31|8@0+ (100,-12800) [0|0] "N" Vector__XXX
+ SG_ D_TGTDST : 39|8@0+ (1,0) [0|0] "m" Vector__XXX
+ SG_ D_VRCC : 47|8@0- (1,0) [0|0] "km/h" Vector__XXX
+ SG_ D_WSTL : 55|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_DSW : 54|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_FDJDG : 52|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ D_DSSJDG : 51|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 870 DS11D71: 7 DS1
+ SG_ XREQALM : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XREQABK : 6|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TGT_DIST : 5|14@0+ (0.01,0) [0|0] "m" Vector__XXX
+ SG_ XREQPBA : 23|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XREQFPB : 22|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XREQPB : 21|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XREQEXT : 20|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XREQPSB : 19|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TGT_VGAP : 18|11@0+ (0.025,-51.175) [0|0] "m/s" Vector__XXX
+ SG_ PCSDISP : 39|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XPCSRDY : 35|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TGT_NUMB : 34|3@0+ (1,1) [0|0] "" Vector__XXX
+ SG_ TGT_POSX : 47|8@0- (0.04,0) [0|0] "m" Vector__XXX
+
+BO_ 871 DS11D72: 2 FCM
+ SG_ LKADRTRG : 7|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LKADRSHR : 5|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LKADRSLK : 4|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LKADRSLD : 3|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LKADRCC : 2|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LKADRTUR : 15|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LKADRINV : 13|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 643 DS11F01: 7 DS1
+ SG_ DSCOUNT : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DSLCCW1 : 15|1@0+ (1,0) [0|0] "" FCM
+ SG_ DSSTPBZ : 14|1@0+ (1,0) [0|0] "" FCM
+ SG_ PBRTRGR2 : 12|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DSSFTRQD : 11|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DSS1FDRV : 23|16@0- (2,0) [0|0] "N" Vector__XXX
+ SG_ DSS1STBK : 39|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DSS1STAT : 36|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DSBHOK : 33|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PPTRGR2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DSRQBH : 47|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ IBTRGR2 : 45|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSABK2 : 44|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSNOCHG : 41|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DS1F01SM : 55|8@0+ (1,0) [0|0] "" FCM
+
+BO_ 1041 DS12F02: 8 DS1
+ SG_ PCSINDI : 7|2@0+ (1,0) [0|0] "" FCM
+ SG_ PCSWM : 5|2@0+ (1,0) [0|0] "" FCM
+ SG_ PCSFCT : 3|1@0+ (1,0) [0|0] "" FCM
+ SG_ PCSTUCT : 2|1@0+ (1,0) [0|0] "" FCM
+ SG_ DS1LCCK : 1|2@0+ (1,0) [0|0] "" FCM
+ SG_ PBTUCT : 14|1@0+ (1,0) [0|0] "" FCM
+ SG_ PCSEXIST : 13|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSWDUCT : 11|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSWD : 9|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSDW : 39|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSDSRF : 36|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSTEMP : 35|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSDUST : 34|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSLCCK : 33|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSPEDW : 47|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSPVSN : 44|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCTEMP2 : 42|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSDUST2 : 41|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSOFFS : 40|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSWDS : 55|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ FRDADJ : 53|3@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1042 DS12F03: 8 FCM
+ SG_ LKAINDI : 7|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LKAWLSL : 5|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LKAWLSR : 3|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LKAFCT : 15|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LKATUCT : 14|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LKACAMT : 13|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LDWEXIST : 10|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LKASPCND : 23|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LKAWTCS : 18|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LKASAUT : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LDWBZ : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LDAFCVB : 47|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LDARDA : 46|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SWSSENSD : 45|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SWSSWD : 43|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SWSRAD : 55|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SWSFLD : 53|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SWSBUZ : 50|2@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1207 ECO1D50: 8 CGW
+ SG_ DRECO01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECO02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECO03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECO04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECO05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECO06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECO07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECO08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 355 ECO1S01: 5 CGW
+ SG_ ECOSTAON : 19|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ECOMODE : 18|3@0+ (1,0) [0|0] "" KSS,SCS
+ SG_ FCREQ : 31|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SSVMREQ : 27|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ E2MRXMK : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BPHLDRQ : 36|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BPHLDRQ2 : 35|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ECOEGSTP : 33|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 922 ECO1S90: 8 CGW
+ SG_ ECOBZR : 23|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ECOLMP : 21|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TESTECO : 30|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ OPLMPMSK : 29|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MSTART : 28|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ECOMODE3 : 27|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ INFSSCOP : 39|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ INFSSSTL : 36|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ECLMP : 34|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AUTOSTA : 47|1@0+ (1,0) [0|0] "" SCS
+ SG_ INFSSFAL : 46|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ INFSSINH : 45|6@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SSACMODE : 52|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ INFSSADV : 50|3@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1182 ECT1D50: 8 CGW
+ SG_ DRECT01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1183 ECT1D51: 8 CGW
+ SG_ DRECT11 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT12 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT13 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT14 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT15 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT16 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT17 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT18 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1200 ECT1D52: 8 CGW
+ SG_ DRECT21 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT22 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT23 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT24 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT25 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT26 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT27 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT28 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1201 ECT1D53: 8 CGW
+ SG_ DRECT31 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT32 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT33 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT34 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT35 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT36 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT37 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT38 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1202 ECT1D54: 8 CGW
+ SG_ DRECT41 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT42 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT43 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT44 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT45 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT46 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT47 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT48 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1203 ECT1D55: 8 CGW
+ SG_ DRECT51 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT52 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT53 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT54 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT55 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT56 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT57 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRECT58 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 464 ECT1F03: 8 CGW
+ SG_ NT : 7|16@0- (0.390625,0) [0|0] "rpm" Vector__XXX
+ SG_ ACT : 23|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XDMET : 20|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XNTSW : 19|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XNMET : 18|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XRMET : 17|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XPMET : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SFTOUT_S : 29|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ X3MET : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ X2MET : 25|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XLOMET : 24|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ L4SW : 38|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SNOW : 36|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XFSFT : 35|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SFTOUT : 34|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ HSSLWN : 55|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ HSINH : 54|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CLTMODBK : 53|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LUOUT : 51|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LUKG : 50|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ FBCOA : 48|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ECTF03SM : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 725 ECT1S10: 2 CGW
+ SG_ VTORATIO : 7|16@0+ (0.0009765625,0) [0|0] "" Vector__XXX
+
+BO_ 956 ECT1S92: 8 CGW
+ SG_ B_OILW : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_OILMD : 5|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_ISNW : 1|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_RJTB : 0|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_WNDL : 15|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_LMULRJ : 14|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_P : 13|1@0+ (1,0) [0|0] "" AFS,CSR,MAV
+ SG_ B_R : 12|1@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1,FCM,MAV
+ SG_ B_N : 11|1@0+ (1,0) [0|0] "" AFS,CSR,MAV
+ SG_ B_ISPTM : 10|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BV_THOCL : 23|16@0+ (0.625,-50) [0|0] "Ž" Vector__XXX
+ SG_ B_GEAR : 39|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_SMDE : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_D : 47|1@0+ (1,0) [0|0] "" AFS,CSR,DS1,MAV
+ SG_ B_ECOMI : 40|1@0+ (1,0) [0|0] "" DS1
+ SG_ B_SPTMI : 55|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_PWRM : 54|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_OILWM : 51|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_SPTMS : 49|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_DMODE : 61|3@0+ (1,0) [0|0] "" SCS
+
+BO_ 1176 ENG1D50: 8 CGW
+ SG_ DRENG01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1177 ENG1D51: 8 CGW
+ SG_ DRENG11 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG12 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG13 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG14 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG15 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG16 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG17 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG18 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1178 ENG1D52: 8 CGW
+ SG_ DRENG21 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG22 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG23 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG24 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG25 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG26 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG27 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG28 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1179 ENG1D53: 8 CGW
+ SG_ DRENG31 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG32 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG33 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG34 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG35 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG36 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG37 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG38 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1180 ENG1D54: 8 CGW
+ SG_ DRENG41 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG42 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG43 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG44 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG45 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG46 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG47 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG48 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1181 ENG1D55: 8 CGW
+ SG_ DRENG51 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG52 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG53 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG54 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG55 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG56 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG57 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG58 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1192 ENG1D56: 8 CGW
+ SG_ DRENG61 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG62 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG63 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG64 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG65 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG66 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG67 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG68 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1191 ENG1D57: 8 CGW
+ SG_ DRENG71 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG72 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG73 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG74 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG75 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG76 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG77 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG78 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1197 ENG1D58: 8 CGW
+ SG_ DRENG81 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG82 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG83 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG84 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG85 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG86 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG87 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG88 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1198 ENG1D59: 8 CGW
+ SG_ DRENG91 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG92 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG93 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG94 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG95 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG96 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG97 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG98 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1199 ENG1D60: 8 CGW
+ SG_ DRENG101 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG102 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG103 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG104 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG105 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG106 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG107 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRENG108 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1017 ENG1F03: 8 CGW
+ SG_ VARENG1 : 7|4@0+ (1,0) [0|0] "" AFS,SCS
+ SG_ VARENG2 : 3|4@0+ (1,0) [0|0] "" AFS,SCS
+ SG_ VARENG3 : 15|4@0+ (1,0) [0|0] "" AFS,SCS
+ SG_ VARENG4 : 11|1@0+ (1,0) [0|0] "" AFS,SCS
+ SG_ HVFLAG : 10|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,SCS
+ SG_ VARTRM1 : 23|4@0+ (1,0) [0|0] "" AFS,CSR,FCM,MAV,SCS
+ SG_ GEARINF : 19|4@0+ (1,0) [0|0] "" SCS
+ SG_ DVINF : 31|2@0+ (1,0) [0|0] "" AFS,DS1,FCM,SCS
+ SG_ OBDINF : 27|4@0+ (1,0) [0|0] "" BSR,DS1,FCM,SCS
+ SG_ ECOFLAG : 39|1@0+ (1,0) [0|0] "" FCM
+ SG_ CDYMD : 38|2@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ ENGF03SM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV
+
+BO_ 452 ENG1F07: 8 CGW
+ SG_ NE1 : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ SG_ THA1 : 23|8@0+ (2.5,-40) [0|0] "Ž" Vector__XXX
+ SG_ THWX : 31|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ EGF : 30|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ T2ERXF : 29|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ T2ERXMK : 28|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ASTEFI : 27|1@0+ (1,0) [0|0] "" AFS
+ SG_ B2ERXMK : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PDLF : 24|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ENTCAL2 : 39|8@0+ (12.5,0) [0|0] "rpm" Vector__XXX
+ SG_ EGFB : 46|1@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ PTFB : 45|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MILREQ : 43|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_ECOL : 55|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_IECOCR : 53|6@0+ (2,0) [0|0] "" Vector__XXX
+ SG_ ENGF07SM : 63|8@0+ (1,0) [0|0] "" AFS,DS1,FCM
+
+BO_ 114 ENG1F43: 5 CGW
+ SG_ FAVLMCHL : 7|16@0- (2,0) [0|0] "N" Vector__XXX
+ SG_ FAVLMONL : 23|16@0- (2,0) [0|0] "N" Vector__XXX
+ SG_ ENGF43SM : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 705 ENG1S01: 8 CGW
+ SG_ ETCSFB : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ETCSF : 6|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VSCTH : 5|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ THF : 4|1@0+ (1,0) [0|0] "" DS1
+ SG_ IDL1 : 3|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XCCACT2 : 2|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ STPSWF : 1|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ WTC : 0|1@0+ (1,0) [0|0] "" KSS,SCS
+ SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" Vector__XXX
+ SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS
+ SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" Vector__XXX
+ SG_ EACCP : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM
+ SG_ ENG01SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM
+
+BO_ 961 ENG1S23: 3 CGW
+ SG_ EKLSM : 7|8@0+ (0.625,0) [0|0] "%" Vector__XXX
+ SG_ GATHW : 15|16@0- (0.625,0) [0|0] "Ž" Vector__XXX
+
+BO_ 979 ENG1S28: 2 CGW
+ SG_ B_FC : 7|16@0+ (0.0005,0) [0|0] "ml" Vector__XXX
+
+BO_ 1408 ENG1S51: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1409 ENG1S52: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1410 ENG1S54: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VC : 52|5@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TES : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 955 ENG1S92: 8 CGW
+ SG_ B_ST : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_TC : 6|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_GLOW : 3|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_STPE : 0|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_OMWI : 15|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_SILUP : 13|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_SILDN : 12|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_WSTP : 11|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_LOUT : 10|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_OILPL : 9|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_TMP : 23|8@0+ (0.5,0) [0|0] "Ž" Vector__XXX
+ SG_ OGENETCS : 30|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_DPFW : 28|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BOSLAMP : 37|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BOSMINF : 34|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ GOSLAMP : 45|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ GOSMINF : 42|3@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 921 ENG1S95: 8 CGW
+ SG_ B_LLSP2 : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TLSTBZ : 6|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_ASLBZ2 : 5|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_SPU2 : 4|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACASID1 : 3|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACASID2 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_LSP2 : 31|8@0+ (1,0) [0|0] "km/hEmph" Vector__XXX
+ SG_ B_ASLSP2 : 39|8@0+ (1,0) [0|0] "km/hEmph" Vector__XXX
+ SG_ CACCTRN : 47|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CACCINF : 46|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CACCFR2 : 45|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CACCFR1 : 44|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CACCFLD : 43|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CACCCM3 : 42|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CACCCM2 : 41|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CACCCM1 : 40|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 238 ENG2F01: 4 CGW
+ SG_ STOFOK : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ GROWIND : 6|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_TMP3 : 15|8@0+ (0.5,0) [0|0] "Ž" Vector__XXX
+ SG_ IMMINJST : 23|16@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 466 ENG2F04: 8 CGW
+ SG_ XLDR : 7|1@0+ (1,0) [0|0] "" DS1
+ SG_ XACCACTV : 6|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XACCACT : 5|1@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ XPAIDLV : 4|1@0+ (1,0) [0|0] "" DS1
+ SG_ XPAIDL : 3|1@0+ (1,0) [0|0] "" DS1
+ SG_ BHOK : 2|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RQBH : 1|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACCSTAT : 15|3@0+ (1,0) [0|0] "" DS1
+ SG_ ACCSTBK : 12|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ STPBZ : 9|1@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ PLOCKF : 8|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACCREQ : 23|16@0- (0.0009765625,0) [0|0] "m/s^2" DS1
+ SG_ ACCAVL : 39|16@0- (2,0) [0|0] "N" Vector__XXX
+ SG_ SPDSTAT : 55|4@0+ (1,0) [0|0] "|" DS1
+ SG_ SSTOK : 51|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CANREQ : 49|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ FCACT : 48|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SM1D2 : 63|8@0+ (1,0) [0|0] "" DS1,FCM
+
+BO_ 467 ENG2F05: 8 CGW
+ SG_ LCCW2 : 4|1@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ WSTL2 : 3|1@0+ (1,0) [0|0] "" DS1
+ SG_ LCCHK : 2|3@0+ (1,0) [0|0] "" DS1
+ SG_ XCCOK2 : 15|1@0+ (1,0) [0|0] "" DS1
+ SG_ SLTACC : 14|2@0+ (1,0) [0|0] "" DS1
+ SG_ LTME2 : 12|2@0+ (1,0) [0|0] "" DS1
+ SG_ STPSWF2 : 10|1@0+ (1,0) [0|0] "" DS1
+ SG_ CCSF : 9|1@0+ (1,0) [0|0] "" DS1
+ SG_ CCSNG : 8|1@0+ (1,0) [0|0] "" DS1
+ SG_ VM : 23|16@0+ (0.00390625,0) [0|0] "km/h" DS1
+ SG_ INTG : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1
+ SG_ D2PRXMK : 47|1@0+ (1,0) [0|0] "" DS1
+ SG_ SM1D3 : 63|8@0+ (1,0) [0|0] "" DS1,FCM
+
+BO_ 119 ENG2F41: 6 CGW
+ SG_ FDRV : 7|16@0- (2,0) [0|0] "N" Vector__XXX
+ SG_ FDRVREAL : 23|13@0- (10,0) [0|0] "N" Vector__XXX
+ SG_ XAECT : 39|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ XFDRVCOL : 38|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ FDRVSELP : 34|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ENG2F41S : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 120 ENG2F42: 4 CGW
+ SG_ FAVLMCHH : 7|16@0- (2,0) [0|0] "N" Vector__XXX
+ SG_ CCRNG : 23|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ FDRVTYPD : 22|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ GEARHD : 18|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ENG2F42S : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 916 EPS1S90: 1 CGW
+ SG_ B_WPS0 : 1|2@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1235 FCM1N01: 8 FCM
+ SG_ FCMNID : 7|8@0+ (1,0) [0|0] "" CGW
+ SG_ FCMSNG : 15|1@0+ (1,0) [0|0] "" CGW
+ SG_ FCMSPF : 23|16@0+ (1,0) [0|0] "" CGW
+ SG_ FCMREV : 39|32@0+ (1,0) [0|0] "" CGW
+
+BO_ 1161 FCM1S10: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1162 FCM1S11: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1163 FCM1S12: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" Vector__XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" Vector__XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" Vector__XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1279 FRD1N01: 8 FRD
+ SG_ FRDNID : 7|8@0+ (1,0) [0|0] "" CGW
+ SG_ FRDSNG : 15|1@0+ (1,0) [0|0] "" CGW
+ SG_ FRDSPF : 23|16@0+ (1,0) [0|0] "" CGW
+ SG_ FRDREV : 39|32@0+ (1,0) [0|0] "" CGW
+
+BO_ 737 FWM1S01: 2 CGW
+ SG_ ACTHLF : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ MOT4WD : 6|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CCANCEL : 5|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AI4WD : 4|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LOW4 : 3|1@0+ (1,0) [0|0] "" MAV,SCS
+ SG_ DLOCK : 2|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RDLOCK : 1|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ HLN : 0|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ F_SP4WD : 15|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RQ_SP4WD : 14|7@0+ (1,73) [0|0] "km/h" Vector__XXX
+
+BO_ 1082263092 IDT1S03_82: 8 CGW
+ SG_ IDT03_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ IDT03_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CO_IDT : 23|16@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ UACK : 39|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ WRT : 38|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RSTP : 37|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1082328629 IDT1S04_83: 8 CGW
+ SG_ IDT04_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ IDT04_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ OSID : 47|16@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1257 KSS1N01: 8 KSS
+ SG_ KSSNID : 7|8@0+ (1,0) [0|0] "" CGW
+ SG_ KSSSNG : 15|1@0+ (1,0) [0|0] "" CGW
+ SG_ KSSSPF : 23|16@0+ (1,0) [0|0] "" CGW
+ SG_ KSSREV : 39|32@0+ (1,0) [0|0] "" CGW
+
+BO_ 927 KSS1S90: 1 KSS
+ SG_ LKSS0 : 1|2@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1263 MAV1N01: 8 MAV
+ SG_ MAVNID : 7|8@0+ (1,0) [0|0] "" CGW
+ SG_ MAVSNG : 15|1@0+ (1,0) [0|0] "" CGW
+ SG_ MAVSPF : 23|16@0+ (1,0) [0|0] "" CGW
+
+BO_ 992 MET1S18: 8 CGW
+ SG_ M_LANG : 7|6@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ M_LNG_ST : 1|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ M_LNGDB1 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ M_LNGDB2 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ M_LNGDB3 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ M_LNGDB4 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ M_LNGDB5 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ M_LNGDB6 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ M_LNGDB7 : 63|7@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1193 SCS1D50: 8 SCS
+ SG_ DRSCS01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRSCS02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRSCS03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRSCS04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRSCS05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRSCS06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRSCS07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DRSCS08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1226 SCS1N01: 8 SCS
+ SG_ SCSNID : 7|8@0+ (1,0) [0|0] "" CGW
+ SG_ SCSSNG : 15|1@0+ (1,0) [0|0] "" CGW
+ SG_ SCSSPF : 23|16@0+ (1,0) [0|0] "" CGW
+ SG_ SCSREV : 39|32@0+ (1,0) [0|0] "" CGW
+
+BO_ 744 SCS1S01: 8 SCS
+ SG_ SELECTOR : 3|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AVS_MD : 63|3@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 815 SCS1S06: 5 SCS
+ SG_ RRVH : 23|8@0- (1,0) [0|0] "mm" AFS
+ SG_ RLVH : 31|8@0- (1,0) [0|0] "mm" AFS
+ SG_ SCECOINH : 35|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 917 SCS1S90: 4 SCS
+ SG_ B_LSUS6 : 7|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_LSUS4 : 5|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_LSUS2 : 3|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_LSUS8 : 9|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DLR_HSID : 23|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LAR_HS : 18|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AVSNI : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 37 Steering_Angle_sensor: 8 CGW
+ SG_ STS3 : 7|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV
+ SG_ STS2 : 6|1@0+ (1,0) [0|0] "" AFS,DS1,FCM,KSS,MAV,SCS
+ SG_ STS1 : 5|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,KSS,MAV,SCS
+ SG_ STS0 : 4|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SSA : 3|12@0- (1.5,0) [0|0] "deg" AFS,BSR,DS1,FCM,KSS,MAV,SCS
+ SG_ SAZS : 23|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM
+ SG_ SFRZ : 22|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ SSAZ : 19|12@0- (1.5,0) [0|0] "deg" AFS,BSR,DS1,FCM
+ SG_ SSAS : 39|4@0- (0.1,0) [0|0] "deg" FCM,KSS,SCS
+ SG_ SSAV : 35|12@0- (1,0) [0|0] "deg/s" FCM,KSS,SCS
+ SG_ STDID : 51|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ STR01SUM : 63|8@0+ (1,0) [0|0] "" AFS,DS1,FCM,MAV
+
+BO_ 1059 STR1S02: 1 CGW
+ SG_ SFR : 5|1@0+ (1,0) [0|0] "" MAV
+ SG_ STRWVG : 4|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM
+
+BO_ 170 Wheel_speeds: 8 CGW
+ SG_ VXFREF : 7|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
+ SG_ VXFR : 6|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
+ SG_ VXFLEF : 23|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
+ SG_ VXFL : 22|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
+ SG_ VXRREF : 39|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
+ SG_ VXRR : 38|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
+ SG_ VXRLEF : 55|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
+ SG_ VXRL : 54|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
+
+BO_ 426 VSC1F02: 6 CGW
+ SG_ VXFRF : 7|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
+ SG_ VXFRIGS : 6|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
+ SG_ VXFRHDS : 5|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
+ SG_ VXFLF : 2|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
+ SG_ VXFLIGS : 1|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
+ SG_ VXFLHDS : 0|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
+ SG_ VXRRF : 13|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
+ SG_ VXRRIGS : 12|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
+ SG_ VXRRHDS : 11|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
+ SG_ VXRLF : 8|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
+ SG_ VXRLIGS : 23|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
+ SG_ VXRLHDS : 22|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
+ SG_ VSCF02SM : 47|8@0+ (1,0) [0|0] "" AFS,DS1,FCM,MAV
+
+BO_ 550 Brake_module: 8 CGW
+ SG_ VSCF01FG : 7|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AHCURQ : 4|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PMCF : 3|1@0+ (1,0) [0|0] "" DS1
+ SG_ PMCS : 2|1@0+ (1,0) [0|0] "" DS1
+ SG_ PMC : 1|10@0+ (0.02,0) [0|0] "Mpa" DS1
+ SG_ ECOEN : 23|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CCS : 22|1@0+ (1,0) [0|0] "" DS1
+ SG_ FBA : 21|1@0+ (1,0) [0|0] "" DS1
+ SG_ TRBRKSYS : 20|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TS : 38|1@0+ (1,0) [0|0] "" KSS,SCS
+ SG_ WSTP : 37|1@0+ (1,0) [0|0] "" DS1,KSS,SCS
+ SG_ VSCACT : 36|1@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ BAEX : 35|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TEM : 34|3@0+ (1,0) [0|0] "" SCS
+ SG_ FSTP : 60|1@0+ (1,0) [0|0] "" DS1
+ SG_ ABSACT : 59|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
+
+BO_ 180 Speed : 8 CGW
+ SG_ SP1P : 39|6@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ SP1S : 33|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
+ SG_ SP1 : 47|16@0- (0.01,0) [0|0] "km/h" BSR,DS1,FCM,MAV
+ SG_ VSC03SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV
+
+BO_ 800 VSC1S07: 8 CGW
+ SG_ FBKRLY : 6|1@0+ (1,0) [0|0] "" DS1
+ SG_ FVSCM : 4|1@0+ (1,0) [0|0] "" DS1
+ SG_ FVSCSFT : 3|1@0+ (1,0) [0|0] "" DS1
+ SG_ FABS : 2|1@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ TSVSC : 1|1@0+ (1,0) [0|0] "" DS1
+ SG_ FVSCL : 0|1@0+ (1,0) [0|0] "" DS1
+ SG_ RQCSTBKB : 15|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PSBSTBY : 14|1@0+ (1,0) [0|0] "" DS1
+ SG_ P2BRXMK : 13|1@0+ (1,0) [0|0] "" DS1
+ SG_ MCC : 11|1@0+ (1,0) [0|0] "" DS1
+ SG_ RQBKB : 10|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BRSTOP : 9|1@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ BRKON : 8|1@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ ASLP : 23|8@0- (1,0) [0|0] "deg" DS1
+ SG_ BRTYPACC : 31|2@0+ (1,0) [0|0] "" DS1
+ SG_ BRKABT3 : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BRKABT2 : 25|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BRKABT1 : 24|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ GVC : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1
+ SG_ XGVCINV : 43|1@0+ (1,0) [0|0] "" DS1
+ SG_ S07CNT : 52|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSBRSTA : 50|2@0+ (1,0) [0|0] "" DS1
+ SG_ VSC07SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM
+
+BO_ 1056 VSC1S08: 8 CGW
+ SG_ YR1Z : 7|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV
+ SG_ YR2Z : 23|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV
+ SG_ GL1Z : 39|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS
+ SG_ GL2Z : 47|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS
+ SG_ YRGSDIR : 55|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS
+ SG_ GLZS : 51|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS
+ SG_ YRZF : 50|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
+ SG_ YRZS : 49|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
+ SG_ YRZKS : 48|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
+ SG_ VSC08SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV
+
+BO_ 186 VSC1S12: 4 CGW
+ SG_ HAC2ESRQ : 21|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ FHACHOLD : 20|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VSC12SUM : 31|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 562 VSC1S14: 6 CGW
+ SG_ VWPSUMFR : 7|8@0+ (1,0) [0|0] "" MAV
+ SG_ VWPSUMFL : 15|8@0+ (1,0) [0|0] "" MAV
+ SG_ VWPFRPM : 23|1@0+ (1,0) [0|0] "" MAV
+ SG_ VWPFLPM : 22|1@0+ (1,0) [0|0] "" MAV
+ SG_ S14CNT : 21|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VWPFRPMS : 18|1@0+ (1,0) [0|0] "" MAV
+ SG_ VWPFLPMS : 17|1@0+ (1,0) [0|0] "" MAV
+ SG_ VWPSUMRR : 31|8@0+ (1,0) [0|0] "" MAV
+ SG_ VWPSUMRL : 39|8@0+ (1,0) [0|0] "" MAV
+ SG_ VSC14SUM : 47|8@0+ (1,0) [0|0] "" MAV
+
+BO_ 552 VSC1S29: 4 CGW
+ SG_ ICBACT : 7|1@0+ (1,0) [0|0] "" DS1
+ SG_ DVS0PCS : 6|15@0- (0.001,0) [0|0] "m/s^2" DS1
+ SG_ SM228 : 31|8@0+ (1,0) [0|0] "" DS1
+
+BO_ 1168 VSC1S92: 1 CGW
+ SG_ C_DCMOD1 : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ C_DCMOD2 : 6|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ C_DCMOD3 : 3|4@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 951 VSC1S95: 8 CGW
+ SG_ B_BRKW : 7|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_ABS : 5|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_BRLV : 14|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TRCOFF : 13|1@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ VSCOFF : 12|2@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ SLP_WL : 10|3@0+ (1,0) [0|0] "" MAV
+ SG_ B_MCST : 19|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_BUZZER : 31|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_ALSD : 27|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_DACIND : 25|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ OGENVSC : 37|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_ATRC : 47|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_STRC : 46|3@0+ (1,0) [0|0] "" MAV
+ SG_ B_HZD : 43|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VSCSWIH : 51|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ STRCDISP : 50|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ STRCDSP2 : 60|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VSCEXIST : 59|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1063 VSC1S96: 8 CGW
+ SG_ MTS_DISP : 5|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ B_MTS : 1|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TRCCONRL : 11|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TRCCONRR : 10|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TRCCONFL : 9|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TRCCONFR : 8|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 545 VSC2F05: 5 CGW
+ SG_ TQER : 7|16@0- (0.03125,0) [0|0] "Nm" Vector__XXX
+ SG_ REQC : 23|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ REQ2 : 22|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ REQ1 : 21|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AIDWI : 20|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ RTD : 19|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ LOMUSFT : 31|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VSC2F05S : 39|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 544 VSC2F07: 4 CGW
+ SG_ FSROT : 7|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BRK2 : 4|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BRK1 : 3|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ FCNG : 1|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TSLP : 0|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TRCACT : 15|1@0+ (1,0) [0|0] "" DS1,FCM
+ SG_ ABSSLP : 14|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VDMACT : 13|1@0+ (1,0) [0|0] "" FCM
+ SG_ DAC_CND : 9|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ VSC2F07S : 31|8@0+ (1,0) [0|0] "" DS1,FCM
+
+BO_ 36 Kinematics: 8 CGW
+ SG_ YRS11S : 7|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
+ SG_ YRS14S : 6|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
+ SG_ YRS21S : 5|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
+ SG_ YRS24S : 4|1@0+ (1,0) [0|0] "" DS1,FCM,MAV
+ SG_ YGS1 : 3|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS
+ SG_ YGS0 : 2|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YR : 1|10@0+ (0.244,-125) [0|0] "deg/sec" DS1,FCM,MAV
+ SG_ YR_CPUMN : 23|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ GS4S : 19|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS
+ SG_ GS1S : 18|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS
+ SG_ GL1X : 17|10@0+ (0.03589,-18.375) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS
+ SG_ YG_ID : 39|4@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS
+ SG_ GS5S : 35|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS
+ SG_ GS2S : 34|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS
+ SG_ GL2Y : 33|10@0+ (0.03589,-18.375) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS
+ SG_ YR_DIF : 55|8@0+ (0.244,-31) [0|0] "deg/sec" DS1,FCM,MAV
+ SG_ YGS03SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV
+
diff --git a/opendbc/toyota_avalon_2017_pt_generated.dbc b/opendbc/toyota_avalon_2017_pt_generated.dbc
index c93250fab..7749d9610 100644
--- a/opendbc/toyota_avalon_2017_pt_generated.dbc
+++ b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
index 5578b7063..e2561f18c 100644
--- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/opendbc/toyota_corolla_2017_pt_generated.dbc b/opendbc/toyota_corolla_2017_pt_generated.dbc
index c24428f34..e0a405dea 100644
--- a/opendbc/toyota_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/opendbc/toyota_highlander_2017_pt_generated.dbc b/opendbc/toyota_highlander_2017_pt_generated.dbc
index d9962c09b..f5063df3f 100644
--- a/opendbc/toyota_highlander_2017_pt_generated.dbc
+++ b/opendbc/toyota_highlander_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
index d7c53cde7..193735a0f 100644
--- a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
index 0e2bbb314..14193330a 100644
--- a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/opendbc/toyota_nodsu_pt_generated.dbc b/opendbc/toyota_nodsu_pt_generated.dbc
index d9e343f6a..8d304954b 100644
--- a/opendbc/toyota_nodsu_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/opendbc/toyota_prius_2017_pt_generated.dbc b/opendbc/toyota_prius_2017_pt_generated.dbc
index 56c1e5f85..9b02b364e 100644
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/opendbc/toyota_rav4_2017_pt_generated.dbc b/opendbc/toyota_rav4_2017_pt_generated.dbc
index e507f13cd..5825028db 100644
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
index 228d8f1b2..6004bfd94 100644
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
index 1d4786f86..3bff57f44 100644
--- a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
+++ b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :
BS_:
-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/panda/VERSION b/panda/VERSION
index 87ff52e2b..5beebea89 100644
--- a/panda/VERSION
+++ b/panda/VERSION
@@ -1 +1 @@
-v1.4.2
\ No newline at end of file
+v1.4.3
\ No newline at end of file
diff --git a/panda/boardesp/webserver.c b/panda/boardesp/webserver.c
index 65e025882..b1a514626 100644
--- a/panda/boardesp/webserver.c
+++ b/panda/boardesp/webserver.c
@@ -28,8 +28,7 @@ char pageheader[] = "HTTP/1.0 200 OK\nContent-Type: text/html\n\n"
"\n"
"\n"
"This is your comma.ai panda\n\n"
-"It's open source. Find the code here\n"
-"Designed to work with our dashcam, chffr\n";
+"It's open source. Find the code here\n";
char pagefooter[] = "
\n"
"\n"
diff --git a/run_docker_tests.sh b/run_docker_tests.sh
index 10d1bbc83..dfee5f866 100755
--- a/run_docker_tests.sh
+++ b/run_docker_tests.sh
@@ -3,7 +3,7 @@ set -e
docker build -t tmppilot -f Dockerfile.openpilot .
-docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
+docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools")'
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools"); exit $(($? & 3))'
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover common'
@@ -12,3 +12,5 @@ docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && pyt
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/controls'
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && python -m unittest discover selfdrive/loggerd'
docker run --rm -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
+docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && cd /tmp/openpilot/selfdrive/test/tests/process_replay/ && ./test_processes.py'
+docker run --rm tmppilot /bin/sh -c 'mkdir -p /data/params && cd /tmp/openpilot/ && make -C cereal && cd /tmp/openpilot/selfdrive/test/ && ./test_car_models_openpilot.py'
diff --git a/selfdrive/assets/Roboto-Bold.ttf b/selfdrive/assets/Roboto-Bold.ttf
deleted file mode 100644
index a355c27cd..000000000
Binary files a/selfdrive/assets/Roboto-Bold.ttf and /dev/null differ
diff --git a/selfdrive/assets/courbd.ttf b/selfdrive/assets/fonts/courbd.ttf
similarity index 100%
rename from selfdrive/assets/courbd.ttf
rename to selfdrive/assets/fonts/courbd.ttf
diff --git a/selfdrive/assets/OpenSans-Bold.ttf b/selfdrive/assets/fonts/opensans_bold.ttf
similarity index 100%
rename from selfdrive/assets/OpenSans-Bold.ttf
rename to selfdrive/assets/fonts/opensans_bold.ttf
diff --git a/selfdrive/assets/OpenSans-Regular.ttf b/selfdrive/assets/fonts/opensans_regular.ttf
similarity index 100%
rename from selfdrive/assets/OpenSans-Regular.ttf
rename to selfdrive/assets/fonts/opensans_regular.ttf
diff --git a/selfdrive/assets/OpenSans-SemiBold.ttf b/selfdrive/assets/fonts/opensans_semibold.ttf
similarity index 100%
rename from selfdrive/assets/OpenSans-SemiBold.ttf
rename to selfdrive/assets/fonts/opensans_semibold.ttf
diff --git a/selfdrive/assets/sounds/disengaged.wav b/selfdrive/assets/sounds/disengaged.wav
index 958e08fd8..655aa3126 100644
Binary files a/selfdrive/assets/sounds/disengaged.wav and b/selfdrive/assets/sounds/disengaged.wav differ
diff --git a/selfdrive/assets/sounds/engaged.wav b/selfdrive/assets/sounds/engaged.wav
index c6c088e01..b33e8181f 100644
Binary files a/selfdrive/assets/sounds/engaged.wav and b/selfdrive/assets/sounds/engaged.wav differ
diff --git a/selfdrive/assets/sounds/error.wav b/selfdrive/assets/sounds/error.wav
index 1ff0c540d..309eaef8a 100644
Binary files a/selfdrive/assets/sounds/error.wav and b/selfdrive/assets/sounds/error.wav differ
diff --git a/selfdrive/assets/sounds/warning_1.wav b/selfdrive/assets/sounds/warning_1.wav
index 67b8d76fe..920c11846 100644
Binary files a/selfdrive/assets/sounds/warning_1.wav and b/selfdrive/assets/sounds/warning_1.wav differ
diff --git a/selfdrive/assets/sounds/warning_2.wav b/selfdrive/assets/sounds/warning_2.wav
index 8e1b1d7d9..f5ed8521d 100644
Binary files a/selfdrive/assets/sounds/warning_2.wav and b/selfdrive/assets/sounds/warning_2.wav differ
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index d6d429d92..6aa84d106 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -21,6 +21,7 @@ from selfdrive.loggerd.config import ROOT
import selfdrive.crash as crash
import selfdrive.messaging as messaging
+from common.api import Api
from common.params import Params
from selfdrive.services import service_list
from selfdrive.swaglog import cloudlog
@@ -225,19 +226,21 @@ def backoff(retries):
def main(gctx=None):
params = Params()
dongle_id = params.get("DongleId")
- access_token = params.get("AccessToken")
- ws_uri = ATHENA_HOST + "/ws/" + dongle_id
+ ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
crash.bind_user(id=dongle_id)
crash.bind_extra(version=version, dirty=dirty, is_eon=True)
crash.install()
+ private_key = open("/persist/comma/id_rsa").read()
+ api = Api(dongle_id, private_key)
+
conn_retries = 0
while 1:
try:
print("connecting to %s" % ws_uri)
ws = create_connection(ws_uri,
- cookie="jwt=" + access_token,
+ cookie="jwt=" + api.get_token(),
enable_multithread=True)
ws.settimeout(1)
conn_retries = 0
diff --git a/selfdrive/can/tests/test_packer_honda.py b/selfdrive/can/tests/test_packer_honda.py
index b1744155b..b6e779e40 100644
--- a/selfdrive/can/tests/test_packer_honda.py
+++ b/selfdrive/can/tests/test_packer_honda.py
@@ -23,11 +23,10 @@ class TestPackerMethods(unittest.TestCase):
pump_on = (random.randint(0, 2) % 2 == 0)
pcm_override = (random.randint(0, 2) % 2 == 0)
pcm_cancel_cmd = (random.randint(0, 2) % 2 == 0)
- chime = random.randint(0, 65536)
fcw = random.randint(0, 65536)
idx = random.randint(0, 65536)
- m_old = hondacan.create_brake_command(self.honda_cp_old, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, chime, fcw, idx, car_fingerprint, is_panda_black)
- m = hondacan.create_brake_command(self.honda_cp, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, chime, fcw, idx, car_fingerprint, is_panda_black)
+ m_old = hondacan.create_brake_command(self.honda_cp_old, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, is_panda_black)
+ m = hondacan.create_brake_command(self.honda_cp, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, is_panda_black)
self.assertEqual(m_old, m)
apply_steer = (random.randint(0, 2) % 2 == 0)
@@ -39,8 +38,7 @@ class TestPackerMethods(unittest.TestCase):
pcm_speed = random.randint(0, 65536)
hud = HUDData(random.randint(0, 65536), random.randint(0, 65536), 1, random.randint(0, 65536),
- 0xc1, random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536),
- random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536))
+ 0xc1, random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536))
idx = random.randint(0, 65536)
is_metric = (random.randint(0, 2) % 2 == 0)
m_old = hondacan.create_ui_commands(self.honda_cp_old, pcm_speed, hud, car_fingerprint, is_metric, idx, is_panda_black)
diff --git a/selfdrive/can/tests/test_packer_toyota.py b/selfdrive/can/tests/test_packer_toyota.py
index 42e36f317..f5f0e8a7f 100644
--- a/selfdrive/can/tests/test_packer_toyota.py
+++ b/selfdrive/can/tests/test_packer_toyota.py
@@ -47,36 +47,32 @@ class TestPackerMethods(unittest.TestCase):
self.assertEqual(m_old, m)
steer = (random.randint(0, 2) % 2 == 0)
- sound1 = random.randint(1, 65536)
- sound2 = random.randint(1, 65536)
left_line = (random.randint(0, 2) % 2 == 0)
right_line = (random.randint(0, 2) % 2 == 0)
left_lane_depart = (random.randint(0, 2) % 2 == 0)
right_lane_depart = (random.randint(0, 2) % 2 == 0)
- m_old = create_ui_command(self.cp_old, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart)
- m = create_ui_command(self.cp, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart)
+ m_old = create_ui_command(self.cp_old, steer, left_line, right_line, left_lane_depart, right_lane_depart)
+ m = create_ui_command(self.cp, steer, left_line, right_line, left_lane_depart, right_lane_depart)
self.assertEqual(m_old, m)
def test_performance(self):
n1 = sec_since_boot()
recursions = 100000
steer = (random.randint(0, 2) % 2 == 0)
- sound1 = random.randint(1, 65536)
- sound2 = random.randint(1, 65536)
left_line = (random.randint(0, 2) % 2 == 0)
right_line = (random.randint(0, 2) % 2 == 0)
left_lane_depart = (random.randint(0, 2) % 2 == 0)
right_lane_depart = (random.randint(0, 2) % 2 == 0)
for _ in xrange(recursions):
- create_ui_command(self.cp_old, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart)
+ create_ui_command(self.cp_old, steer, left_line, right_line, left_lane_depart, right_lane_depart)
n2 = sec_since_boot()
elapsed_old = n2 - n1
# print('Old API, elapsed time: {} secs'.format(elapsed_old))
n1 = sec_since_boot()
for _ in xrange(recursions):
- create_ui_command(self.cp, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart)
+ create_ui_command(self.cp, steer, left_line, right_line, left_lane_depart, right_lane_depart)
n2 = sec_since_boot()
elapsed_new = n2 - n1
# print('New API, elapsed time: {} secs'.format(elapsed_new))
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index eea51f8f6..dac43ca95 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,14 +1,9 @@
-from cereal import car
from selfdrive.car import apply_toyota_steer_torque_limits
from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \
- create_wheel_buttons, \
- create_chimes
+ create_wheel_buttons
from selfdrive.car.chrysler.values import ECU, CAR
from selfdrive.can.packer import CANPacker
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-LOUD_ALERTS = [AudibleAlert.chimeWarning1, AudibleAlert.chimeWarning2, AudibleAlert.chimeWarningRepeat]
-
class SteerLimitParams:
STEER_MAX = 261 # 262 faults
STEER_DELTA_UP = 3 # 3 is stock. 100 is fine. 200 is too much it seems
@@ -27,7 +22,6 @@ class CarController(object):
self.hud_count = 0
self.car_fingerprint = car_fingerprint
self.alert_active = False
- self.send_chime = False
self.gone_fast_yet = False
self.fake_ecus = set()
@@ -37,7 +31,7 @@ class CarController(object):
self.packer = CANPacker(dbc_name)
- def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert, audible_alert):
+ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert):
# this seems needed to avoid steering faults and to force the sync with the EPS counter
frame = CS.lkas_counter
if self.prev_frame == frame:
@@ -62,19 +56,10 @@ class CarController(object):
self.apply_steer_last = apply_steer
- if audible_alert in LOUD_ALERTS:
- self.send_chime = True
-
can_sends = []
#*** control msgs ***
- if self.send_chime:
- new_msg = create_chimes(AudibleAlert)
- can_sends.append(new_msg)
- if audible_alert not in LOUD_ALERTS:
- self.send_chime = False
-
if pcm_cancel_cmd:
# TODO: would be better to start from frame_2b3
new_msg = create_wheel_buttons(self.ccframe)
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index f803e6094..d710262e9 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -2,7 +2,6 @@ from cereal import car
VisualAlert = car.CarControl.HUDControl.VisualAlert
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
def calc_checksum(data):
"""This function does not want the checksum byte in the input data.
@@ -94,15 +93,6 @@ def create_lkas_command(packer, apply_steer, moving_fast, frame):
return packer.make_can_msg("LKAS_COMMAND", 0, values)
-def create_chimes(audible_alert):
- # '0050' nothing, chime '4f55'
- if audible_alert == AudibleAlert.none:
- msg = '0050'.decode('hex')
- else:
- msg = '4f55'.decode('hex')
- return make_can_msg(0x339, msg)
-
-
def create_wheel_buttons(frame):
# WHEEL_BUTTONS (571) Message sent to cancel ACC.
start = [0x01] # acc cancel set
diff --git a/selfdrive/car/chrysler/chryslercan_test.py b/selfdrive/car/chrysler/chryslercan_test.py
index 4bcb346ba..54b845342 100644
--- a/selfdrive/car/chrysler/chryslercan_test.py
+++ b/selfdrive/car/chrysler/chryslercan_test.py
@@ -3,7 +3,6 @@ from selfdrive.can.packer import CANPacker
from cereal import car
VisualAlert = car.CarControl.HUDControl.VisualAlert
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
import unittest
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 6cc4061d6..c43c6c08a 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -238,7 +238,6 @@ class CarInterface(object):
self.frame = self.CS.frame
can_sends = self.CC.update(c.enabled, self.CS, self.frame,
- c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
- c.hudControl.audibleAlert)
+ c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert)
return can_sends
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index f13288154..2e74d7023 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -24,7 +24,7 @@ FINGERPRINTS = {
{168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8},
],
CAR.PACIFICA_2018: [
- {55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8},
+ {55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8},
],
CAR.PACIFICA_2018_HYBRID: [
{68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index a2ffac61f..da820864f 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -72,7 +72,6 @@ class CarController(object):
def __init__(self, canbus, car_fingerprint):
self.pedal_steady = 0.
self.start_time = 0.
- self.chime = 0
self.steer_idx = 0
self.apply_steer_last = 0
self.car_fingerprint = car_fingerprint
@@ -87,7 +86,7 @@ class CarController(object):
self.packer_ch = CANPacker(DBC[car_fingerprint]['chassis'])
def update(self, enabled, CS, frame, actuators, \
- hud_v_cruise, hud_show_lanes, hud_show_car, chime, chime_cnt, hud_alert):
+ hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
P = self.params
@@ -183,21 +182,4 @@ class CarController(object):
can_sends.append(gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical, steer))
self.lka_icon_status_last = lka_icon_status
- # Send chimes
- if self.chime != chime:
- duration = 0x3c
-
- # There is no 'repeat forever' chime command
- # TODO: Manage periodic re-issuing of chime command
- # and chime cancellation
- if chime_cnt == -1:
- chime_cnt = 10
-
- if chime != 0:
- can_sends.append(gmcan.create_chime_command(canbus.sw_gmlan, chime, duration, chime_cnt))
-
- # If canceling a repeated chime, cancel command must be
- # issued for the same chime type and duration
- self.chime = chime
-
return can_sends
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 64fd84f4a..6919de3bd 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -130,10 +130,6 @@ def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
def create_adas_headlights_status(bus):
return [0x310, 0, "\x42\x04", bus]
-def create_chime_command(bus, chime_type, duration, repeat_cnt):
- dat = [chime_type, duration, repeat_cnt, 0xff, 0]
- return [0x10400060, 0, "".join(map(chr, dat)), bus]
-
def create_lka_icon_command(bus, active, critical, steer):
if active and steer == 1:
if critical:
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 449b8ae5d..f5f641836 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -4,7 +4,7 @@ from common.realtime import sec_since_boot
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD, \
+from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, \
SUPERCRUISE_CARS, AccState
from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
@@ -325,8 +325,6 @@ class CarInterface(object):
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
@@ -334,8 +332,7 @@ class CarInterface(object):
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)
+ c.hudControl.leadVisible, c.hudControl.visualAlert)
self.frame += 1
return can_sends
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index b41919acb..1aa5a64b1 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -1,8 +1,6 @@
from cereal import car
from selfdrive.car import dbc_dict
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-
class CAR:
HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
VOLT = "CHEVROLET VOLT PREMIER 2017"
@@ -21,31 +19,12 @@ class CruiseButtons:
MAIN = 5
CANCEL = 6
-# Car chimes, beeps, blinker sounds etc
-class CM:
- TOCK = 0x81
- TICK = 0x82
- LOW_BEEP = 0x84
- HIGH_BEEP = 0x85
- LOW_CHIME = 0x86
- HIGH_CHIME = 0x87
-
class AccState:
OFF = 0
ACTIVE = 1
FAULTED = 3
STANDSTILL = 4
-AUDIO_HUD = {
- AudibleAlert.none: (0, 0),
- AudibleAlert.chimeEngage: (CM.HIGH_CHIME, 1),
- AudibleAlert.chimeDisengage: (CM.HIGH_CHIME, 1),
- AudibleAlert.chimeError: (CM.LOW_CHIME, 2),
- AudibleAlert.chimePrompt: (CM.LOW_CHIME, 1),
- AudibleAlert.chimeWarning1: (CM.LOW_CHIME, 2),
- AudibleAlert.chimeWarning2: (CM.LOW_CHIME, -1),
- AudibleAlert.chimeWarningRepeat: (CM.LOW_CHIME, -1)}
-
def is_eps_status_ok(eps_status, car_fingerprint):
valid_eps_status = []
if car_fingerprint in SUPERCRUISE_CARS:
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index cd4e8a8fa..c5a2ce872 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -72,7 +72,7 @@ def process_hud_alert(hud_alert):
HUDData = namedtuple("HUDData",
["pcm_accel", "v_cruise", "mini_car", "car", "X4",
- "lanes", "beep", "chime", "fcw", "acc_alert", "steer_required", "dashed_lanes"])
+ "lanes", "fcw", "acc_alert", "steer_required", "dashed_lanes"])
class CarController(object):
@@ -93,8 +93,7 @@ class CarController(object):
def update(self, enabled, CS, frame, actuators, \
pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
- hud_v_cruise, hud_show_lanes, hud_show_car, \
- hud_alert, snd_beep, snd_chime):
+ hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
# dragonpilot, don't check for param too often as it's a kernel call
if frame % 100 == 0:
self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
@@ -126,15 +125,10 @@ class CarController(object):
else:
hud_car = 0
- # For lateral control-only, send chimes as a beep since we don't send 0x1fa
- if CS.CP.radarOffCan:
- snd_beep = snd_beep if snd_beep != 0 else snd_chime
-
- #print("{0} {1} {2}".format(chime, alert_id, hud_alert))
fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, hud_car,
- 0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required, CS.lkMode)
+ 0xc1, hud_lanes, fcw_display, acc_alert, steer_required, CS.lkMode)
# **** process the car messages ****
@@ -204,7 +198,7 @@ class CarController(object):
apply_brake = 0
apply_gas = 0
can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
- pcm_override, pcm_cancel_cmd, hud.chime, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
+ pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
self.apply_brake_last = apply_brake
if CS.CP.enableGasInterceptor:
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 9bf569926..44ca18630 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -38,6 +38,7 @@ def get_can_signals(CP):
("STEER_ANGLE", "STEERING_SENSORS", 0),
("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
+ ("STEER_TORQUE_MOTOR", "STEER_STATUS", 0),
("LEFT_BLINKER", "SCM_FEEDBACK", 0),
("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
("GEAR", "GEARBOX", 0),
@@ -93,6 +94,7 @@ def get_can_signals(CP):
checks += [("BRAKE_MODULE", 50)]
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_FEEDBACK", 0),
+ ("CRUISE_CONTROL_LABEL", "ACC_HUD", 0),
("EPB_STATE", "EPB_STATUS", 0),
("CRUISE_SPEED", "ACC_HUD", 0)]
checks += [("GAS_PEDAL_2", 100)]
@@ -187,6 +189,7 @@ class CarState(object):
self.left_blinker_on = 0
self.right_blinker_on = 0
+ self.cruise_mode = 0
self.stopped = 0
# vEgo kalman filter
@@ -307,11 +310,13 @@ class CarState(object):
self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
self.steer_torque_driver = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
+ self.steer_torque_motor = cp.vl["STEER_STATUS"]['STEER_TORQUE_MOTOR']
self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD[self.CP.carFingerprint]
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
if self.CP.radarOffCan:
+ self.cruise_mode = cp.vl["ACC_HUD"]['CRUISE_CONTROL_LABEL']
self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.ACCORDH, CAR.CRV_HYBRID):
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index bf5651b7c..c1a318cf2 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -27,7 +27,7 @@ def get_lkas_cmd_bus(car_fingerprint, is_panda_black):
return 2 if car_fingerprint in HONDA_BOSCH and not is_panda_black else 0
-def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, chime, fcw, idx, car_fingerprint, is_panda_black):
+def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, is_panda_black):
# TODO: do we loose pressure if we keep pump off for long?
brakelights = apply_brake > 0
brake_rq = apply_brake > 0
@@ -40,11 +40,14 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
"CRUISE_FAULT_CMD": pcm_fault_cmd,
"CRUISE_CANCEL_CMD": pcm_cancel_cmd,
"COMPUTER_BRAKE_REQUEST": brake_rq,
- "SET_ME_0X80": 0x80,
+ "SET_ME_1": 1,
"BRAKE_LIGHTS": brakelights,
- "CHIME": chime,
+ "CHIME": 0,
# TODO: Why are there two bits for fcw? According to dbc file the first bit should also work
"FCW": fcw << 1,
+ "AEB_REQ_1": 0,
+ "AEB_REQ_2": 0,
+ "AEB": 0,
}
bus = get_pt_bus(car_fingerprint, is_panda_black)
return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
@@ -83,8 +86,8 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
'SET_ME_X48': 0x48,
'STEERING_REQUIRED': hud.steer_required,
'SOLID_LANES': hud.lanes,
+ 'BEEP': 0,
'DASHED_LANES': hud.dashed_lanes,
- 'BEEP': hud.beep,
}
commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index e5b9cd3ad..042e95fb7 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -9,7 +9,7 @@ from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
-from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, AUDIO_HUD, VISUAL_HUD, CAMERA_MSGS
+from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, VISUAL_HUD, CAMERA_MSGS
from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness
from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
from common.params import Params
@@ -178,7 +178,7 @@ class CarInterface(object):
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
tire_stiffness_factor = 1.
# Civic at comma has modified steering FW, so different tuning for the Neo in that car
- is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
+ is_fw_modified = os.getenv("DONGLE_ID") in ['5b7c365c50084530']
if is_fw_modified:
ret.lateralTuning.pid.kf = 0.00004
@@ -419,12 +419,13 @@ class CarInterface(object):
ret.gearShifter = self.CS.gear_shifter
ret.steeringTorque = self.CS.steer_torque_driver
+ ret.steeringTorqueEps = self.CS.steer_torque_motor
ret.steeringPressed = self.CS.steer_override
# cruise state
ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
- ret.cruiseState.available = bool(self.CS.main_on)
+ ret.cruiseState.available = bool(self.CS.main_on) and not bool(self.CS.cruise_mode)
ret.cruiseState.speedOffset = self.CS.cruise_speed_offset
ret.cruiseState.standstill = False
@@ -505,7 +506,7 @@ class CarInterface(object):
events.append(create_event('seatbeltNotLatched', [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:
+ if not self.CS.main_on or self.CS.cruise_mode:
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == 'reverse':
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
@@ -587,7 +588,6 @@ class CarInterface(object):
hud_v_cruise = 255
hud_alert = VISUAL_HUD[c.hudControl.visualAlert.raw]
- snd_beep, snd_chime = AUDIO_HUD[c.hudControl.audibleAlert.raw]
pcm_accel = int(clip(c.cruiseControl.accelOverride, 0, 1) * 0xc6)
@@ -600,9 +600,7 @@ class CarInterface(object):
hud_v_cruise,
c.hudControl.lanesVisible,
hud_show_car=c.hudControl.leadVisible,
- hud_alert=hud_alert,
- snd_beep=snd_beep,
- snd_chime=snd_chime)
+ hud_alert=hud_alert)
self.frame += 1
return can_sends
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index fa9e068ab..59d58d5a3 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1,7 +1,6 @@
from cereal import car
from selfdrive.car import dbc_dict
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
VisualAlert = car.CarControl.HUDControl.VisualAlert
# Car button codes
@@ -11,31 +10,6 @@ class CruiseButtons:
CANCEL = 2
MAIN = 1
-#car chimes: enumeration from dbc file. Chimes are for alerts and warnings
-class CM:
- MUTE = 0
- SINGLE = 3
- DOUBLE = 4
- REPEATED = 1
- CONTINUOUS = 2
-
-#car beeps: enumeration from dbc file. Beeps are for engage and disengage
-class BP:
- MUTE = 0
- SINGLE = 3
- TRIPLE = 2
- REPEATED = 1
-
-AUDIO_HUD = {
- AudibleAlert.none: (BP.MUTE, CM.MUTE),
- AudibleAlert.chimeEngage: (BP.SINGLE, CM.MUTE),
- AudibleAlert.chimeDisengage: (BP.SINGLE, CM.MUTE),
- AudibleAlert.chimeError: (BP.MUTE, CM.DOUBLE),
- AudibleAlert.chimePrompt: (BP.MUTE, CM.SINGLE),
- AudibleAlert.chimeWarning1: (BP.MUTE, CM.DOUBLE),
- AudibleAlert.chimeWarning2: (BP.MUTE, CM.REPEATED),
- AudibleAlert.chimeWarningRepeat: (BP.MUTE, CM.REPEATED)}
-
class AH:
#[alert_idx, value]
# See dbc files for info on values"
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index c367324da..be92371f1 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -278,7 +278,7 @@ class CarInterface(object):
def apply(self, c):
- hud_alert = get_hud_alerts(c.hudControl.visualAlert, c.hudControl.audibleAlert)
+ hud_alert = get_hud_alerts(c.hudControl.visualAlert)
can_sends = self.CC.update(c.enabled, self.CS, c.actuators,
c.cruiseControl.cancel, hud_alert)
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 1756976e9..6380ca446 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -2,11 +2,10 @@ from cereal import car
from selfdrive.car import dbc_dict
VisualAlert = car.CarControl.HUDControl.VisualAlert
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-def get_hud_alerts(visual_alert, audible_alert):
+def get_hud_alerts(visual_alert):
if visual_alert == VisualAlert.steerRequired:
- return 4 if audible_alert != AudibleAlert.none else 5
+ return 5
else:
return 0
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 15df9a30b..4b4168ba7 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -13,7 +13,6 @@ params = Params()
VisualAlert = car.CarControl.HUDControl.VisualAlert
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
# Accel limits
ACCEL_HYST_GAP = 0.02 # don't change accel command for small oscilalitons within this value
@@ -56,25 +55,17 @@ def accel_hysteresis(accel, accel_steady, enabled):
return accel, accel_steady
-def process_hud_alert(hud_alert, audible_alert):
+def process_hud_alert(hud_alert):
# initialize to no alert
steer = 0
fcw = 0
- sound1 = 0
- sound2 = 0
if hud_alert == VisualAlert.fcw:
fcw = 1
elif hud_alert == VisualAlert.steerRequired:
steer = 1
- if audible_alert == AudibleAlert.chimeWarningRepeat:
- sound1 = 1
- elif audible_alert != AudibleAlert.none:
- # TODO: find a way to send single chimes
- sound2 = 1
-
- return steer, fcw, sound1, sound2
+ return steer, fcw
def ipas_state_transition(steer_angle_enabled, enabled, ipas_active, ipas_reset_counter):
@@ -133,8 +124,8 @@ class CarController(object):
self.dragon_lat_ctrl = True
def update(self, enabled, CS, frame, actuators,
- pcm_cancel_cmd, hud_alert, audible_alert, forwarding_camera,
- left_line, right_line, lead, left_lane_depart, right_lane_depart):
+ pcm_cancel_cmd, hud_alert, forwarding_camera, left_line,
+ right_line, lead, left_lane_depart, right_lane_depart):
# dragonpilot, don't check for param too often as it's a kernel call
if frame % 100 == 0:
self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
@@ -284,8 +275,8 @@ class CarController(object):
# ui mesg is at 100Hz but we send asap if:
# - there is something to display
# - there is something to stop displaying
- alert_out = process_hud_alert(hud_alert, audible_alert)
- steer, fcw, sound1, sound2 = alert_out
+ alert_out = process_hud_alert(hud_alert)
+ steer, fcw = alert_out
if (any(alert_out) and not self.alert_active) or \
(not any(alert_out) and self.alert_active):
@@ -295,7 +286,7 @@ class CarController(object):
send_ui = False
if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
- can_sends.append(create_ui_command(self.packer, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart))
+ can_sends.append(create_ui_command(self.packer, steer, left_line, right_line, left_lane_depart, right_lane_depart))
if frame % 100 == 0 and ECU.DSU in self.fake_ecus and self.car_fingerprint not in TSS2_CAR:
can_sends.append(create_fcw_command(self.packer, fcw))
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 062eb28b2..80e17c598 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -63,7 +63,8 @@ class CarInterface(object):
ret.enableCruise = not ret.enableGasInterceptor
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
- if candidate != CAR.PRIUS:
+
+ if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
@@ -81,6 +82,18 @@ class CarInterface(object):
ret.lateralTuning.indi.timeConstant = 1.0
ret.lateralTuning.indi.actuatorEffectiveness = 1.0
+ # TODO: Determine if this is better than INDI
+ # ret.lateralTuning.init('lqr')
+ # ret.lateralTuning.lqr.scale = 1500.0
+ # ret.lateralTuning.lqr.ki = 0.01
+
+ # ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
+ # ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+ # ret.lateralTuning.lqr.c = [1., 0.]
+ # ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
+ # ret.lateralTuning.lqr.l = [0.03233671, 0.03185757]
+ # ret.lateralTuning.lqr.dcGain = 0.002237852961363602
+
ret.steerActuatorDelay = 0.5
elif candidate in [CAR.RAV4, CAR.RAV4H]:
@@ -90,8 +103,17 @@ class CarInterface(object):
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]]
- ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
+ ret.lateralTuning.init('lqr')
+
+ ret.lateralTuning.lqr.scale = 1500.0
+ ret.lateralTuning.lqr.ki = 0.05
+
+ ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
+ ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+ ret.lateralTuning.lqr.c = [1., 0.]
+ ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
+ ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
+ ret.lateralTuning.lqr.dcGain = 0.002237852961363602
elif candidate == CAR.COROLLA:
stop_and_go = False
@@ -309,6 +331,7 @@ class CarInterface(object):
ret.steeringRate = self.CS.angle_steers_rate
ret.steeringTorque = self.CS.steer_torque_driver
+ ret.steeringTorqueEps = self.CS.steer_torque_motor
ret.steeringPressed = self.CS.steer_override
# cruise state
@@ -413,8 +436,8 @@ class CarInterface(object):
can_sends = self.CC.update(c.enabled, self.CS, self.frame,
c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
- c.hudControl.audibleAlert, self.forwarding_camera,
- c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leadVisible,
+ self.forwarding_camera, c.hudControl.leftLaneVisible,
+ c.hudControl.rightLaneVisible, c.hudControl.leadVisible,
c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
self.frame += 1
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 7de38c891..35ba67452 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -105,7 +105,7 @@ def create_fcw_command(packer, fcw):
return packer.make_can_msg("ACC_HUD", 0, values)
-def create_ui_command(packer, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart):
+def create_ui_command(packer, steer, left_line, right_line, left_lane_depart, right_lane_depart):
values = {
"RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
"LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
@@ -116,8 +116,8 @@ def create_ui_command(packer, steer, sound1, sound2, left_line, right_line, left
"SET_ME_X02": 0x02,
"SET_ME_X01": 1,
"SET_ME_X01_2": 1,
- "REPEATED_BEEPS": sound1,
- "TWO_BEEPS": sound2,
+ "REPEATED_BEEPS": 0,
+ "TWO_BEEPS": 0,
"LDA_ALERT": steer,
}
return packer.make_can_msg("LKAS_HUD", 0, values)
diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h
index 1148fbd95..d17343827 100644
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.6.2-release"
+#define COMMA_VERSION "0.6.3-release"
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 27d4cb69a..458ed0052 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -12,7 +12,7 @@ from selfdrive.config import Conversions as CV
from selfdrive.services import service_list
from selfdrive.boardd.boardd import can_list_to_can_capnp
from selfdrive.car.car_helpers import get_car, get_startup_alert
-from selfdrive.controls.lib.model_parser import CAMERA_OFFSET
+from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
from selfdrive.controls.lib.drive_helpers import get_events, \
create_event, \
EventTypes as ET, \
@@ -21,6 +21,7 @@ from selfdrive.controls.lib.drive_helpers import get_events, \
from selfdrive.controls.lib.longcontrol import LongControl, STARTING_TARGET_SPEED
from selfdrive.controls.lib.latcontrol_pid import LatControlPID
from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
+from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
from selfdrive.controls.lib.alertmanager import AlertManager
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS
@@ -90,11 +91,16 @@ def data_sample(CI, CC, sm, can_sock, cal_status, cal_perc, overtemp, free_space
cal_status = sm['liveCalibration'].calStatus
cal_perc = sm['liveCalibration'].calPerc
+ cal_rpy = [0,0,0]
if cal_status != Calibration.CALIBRATED:
if cal_status == Calibration.UNCALIBRATED:
events.append(create_event('calibrationIncomplete', [ET.NO_ENTRY, ET.SOFT_DISABLE, ET.PERMANENT]))
else:
events.append(create_event('calibrationInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+ else:
+ rpy = sm['liveCalibration'].rpyCalib
+ if len(rpy) == 3:
+ cal_rpy = rpy
# When the panda and controlsd do not agree on controls_allowed
# we want to disengage openpilot. However the status from the panda goes through
@@ -112,7 +118,7 @@ def data_sample(CI, CC, sm, can_sock, cal_status, cal_perc, overtemp, free_space
# Driver monitoring
if sm.updated['driverMonitoring']:
- driver_status.get_pose(sm['driverMonitoring'], params)
+ driver_status.get_pose(sm['driverMonitoring'], params, cal_rpy)
if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS:
events.append(create_event("tooDistracted", [ET.NO_ENTRY]))
@@ -255,8 +261,7 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
actuators.gas, actuators.brake = LoC.update(active, CS.vEgo, CS.brakePressed, CS.standstill, CS.cruiseState.standstill,
v_cruise_kph, v_acc_sol, plan.vTargetFuture, a_acc_sol, CP)
# Steering PID loop and lateral MPC
- actuators.steer, actuators.steerAngle, lac_log = LaC.update(active, CS.vEgo, CS.steeringAngle, CS.steeringRate,
- CS.steeringPressed, CP, VM, path_plan)
+ actuators.steer, actuators.steerAngle, lac_log = LaC.update(active, CS.vEgo, CS.steeringAngle, CS.steeringRate, CS.steeringTorqueEps, CS.steeringPressed, CP, VM, path_plan)
# Send a "steering required alert" if saturation count has reached the limit
if LaC.sat_flag and CP.steerLimitAlert:
@@ -310,12 +315,11 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca
ldw_allowed = CS.vEgo > 12.5 and not blinker
if len(list(sm['pathPlan'].rPoly)) == 4:
- CC.hudControl.rightLaneDepart = bool(ldw_allowed and sm['pathPlan'].rPoly[3] > -(1 + CAMERA_OFFSET) and right_lane_visible)
+ CC.hudControl.rightLaneDepart = bool(ldw_allowed and sm['pathPlan'].rPoly[3] > -(1.08 + CAMERA_OFFSET) and right_lane_visible)
if len(list(sm['pathPlan'].lPoly)) == 4:
- CC.hudControl.leftLaneDepart = bool(ldw_allowed and sm['pathPlan'].lPoly[3] < (1 - CAMERA_OFFSET) and left_lane_visible)
+ CC.hudControl.leftLaneDepart = bool(ldw_allowed and sm['pathPlan'].lPoly[3] < (1.08 - CAMERA_OFFSET) and left_lane_visible)
CC.hudControl.visualAlert = AM.visual_alert
- CC.hudControl.audibleAlert = AM.audible_alert
if not read_only:
# send car controls over can
@@ -335,7 +339,7 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca
"alertStatus": AM.alert_status,
"alertBlinkingRate": AM.alert_rate,
"alertType": AM.alert_type,
- "alertSound": "", # no EON sounds yet
+ "alertSound": AM.audible_alert,
"awarenessStatus": max(driver_status.awareness, 0.0) if isEnabled(state) else 0.0,
"driverMonitoringOn": bool(driver_status.monitor_on and driver_status.face_detected),
"canMonoTimes": list(CS.canMonoTimes),
@@ -372,7 +376,9 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca
if CP.lateralTuning.which() == 'pid':
dat.controlsState.lateralControlState.pidState = lac_log
- else:
+ elif CP.lateralTuning.which() == 'lqr':
+ dat.controlsState.lateralControlState.lqrState = lac_log
+ elif CP.lateralTuning.which() == 'indi':
dat.controlsState.lateralControlState.indiState = lac_log
controlsstate.send(dat.to_bytes())
@@ -466,8 +472,10 @@ def controlsd_thread(gctx=None):
if CP.lateralTuning.which() == 'pid':
LaC = LatControlPID(CP)
- else:
+ elif CP.lateralTuning.which() == 'indi':
LaC = LatControlINDI(CP)
+ elif CP.lateralTuning.which() == 'lqr':
+ LaC = LatControlLQR(CP)
driver_status = DriverStatus()
@@ -486,6 +494,9 @@ def controlsd_thread(gctx=None):
sm['pathPlan'].sensorValid = True
sm['pathPlan'].posenetValid = True
+ # detect sound card presence
+ sounds_available = not os.path.isfile('/EON') or (os.path.isdir('/proc/asound/card0') and open('/proc/asound/card0/state').read().strip() == 'ONLINE')
+
# controlsd is driven by can recv, expected at 100Hz
rk = Ratekeeper(100, print_delay_threshold=None)
@@ -528,6 +539,8 @@ def controlsd_thread(gctx=None):
events.append(create_event('radarCanError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not CS.canValid:
events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+ if not sounds_available:
+ events.append(create_event('soundsUnavailable', [ET.NO_ENTRY, ET.PERMANENT]))
if not dragon_toyota_stock_dsu:
# Only allow engagement with brake pressed when stopped behind another stopped car
diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py
index df2727e6e..77196273b 100644
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@@ -1,4 +1,4 @@
-from cereal import log
+from cereal import car, log
from common.realtime import DT_CTRL
from selfdrive.swaglog import cloudlog
from selfdrive.controls.lib.alerts import ALERTS
@@ -7,7 +7,8 @@ import copy
AlertSize = log.ControlsState.AlertSize
AlertStatus = log.ControlsState.AlertStatus
-
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
class AlertManager(object):
@@ -49,8 +50,8 @@ class AlertManager(object):
self.alert_text_2 = ""
self.alert_status = AlertStatus.normal
self.alert_size = AlertSize.none
- self.visual_alert = "none"
- self.audible_alert = "none"
+ self.visual_alert = VisualAlert.none
+ self.audible_alert = AudibleAlert.none
self.alert_rate = 0.
if current_alert:
diff --git a/selfdrive/controls/lib/alerts.py b/selfdrive/controls/lib/alerts.py
index 6605bdcbc..2346a5cf0 100644
--- a/selfdrive/controls/lib/alerts.py
+++ b/selfdrive/controls/lib/alerts.py
@@ -300,6 +300,13 @@ ALERTS = [
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
+ Alert(
+ "soundsUnavailableNoEntry",
+ "openpilot Unavailable",
+ "Speaker not found",
+ AlertStatus.normal, AlertSize.mid,
+ Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
+
Alert(
"tooDistractedNoEntry",
"無法使用 dragonpilot",
@@ -313,84 +320,84 @@ ALERTS = [
"即刻接管控制",
"系統過熱",
AlertStatus.critical, AlertSize.full,
- Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
+ Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
Alert(
"wrongGear",
"即刻接管控制",
"檔位不在 D 檔",
AlertStatus.critical, AlertSize.full,
- Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
+ Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
Alert(
"calibrationInvalid",
"即刻接管控制",
"校準無效：請將 EON 放於新的位置並重新校準",
AlertStatus.critical, AlertSize.full,
- Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
+ Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
Alert(
"calibrationIncomplete",
"即刻接管控制",
"正在校準相機中",
AlertStatus.critical, AlertSize.full,
- Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
+ Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
Alert(
"doorOpen",
"即刻接管控制",
"車門開啟",
AlertStatus.critical, AlertSize.full,
- Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
+ Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
Alert(
"seatbeltNotLatched",
"即刻接管控制",
"安全帶未繫",
AlertStatus.critical, AlertSize.full,
- Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
+ Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
Alert(
"espDisabled",
"即刻接管控制",
"ESP 關閉",
AlertStatus.critical, AlertSize.full,
- Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
+ Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
Alert(
"lowBattery",
"即刻接管控制",
"電池電量過低",
AlertStatus.critical, AlertSize.full,
- Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
+ Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
Alert(
"commIssue",
"即刻接管控制",
"雷達訊號錯誤：請重新發動車子",
AlertStatus.critical, AlertSize.full,
- Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
+ Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
Alert(
"radarCanError",
"即刻接管控制",
"雷達訊號錯誤：請重新發動車子",
AlertStatus.critical, AlertSize.full,
- Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
+ Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
Alert(
"radarFault",
"即刻接管控制",
"AI 模型錯誤：請檢查網路連線",
AlertStatus.critical, AlertSize.full,
- Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
+ Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
Alert(
"posenetInvalid",
"即刻接管控制",
"視覺出現錯誤：請檢查相機",
AlertStatus.critical, AlertSize.full,
- Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
+ Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
# Cancellation alerts causing immediate disabling
Alert(
@@ -676,6 +683,13 @@ ALERTS = [
AlertStatus.normal, AlertSize.mid,
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+ Alert(
+ "soundsUnavailablePermanent",
+ "Speaker not found",
+ "Reboot your EON",
+ AlertStatus.normal, AlertSize.mid,
+ Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+
Alert(
"vehicleModelInvalid",
"車子參數識別失敗",
diff --git a/selfdrive/controls/lib/driver_monitor.py b/selfdrive/controls/lib/driver_monitor.py
index 47c782401..472a60839 100644
--- a/selfdrive/controls/lib/driver_monitor.py
+++ b/selfdrive/controls/lib/driver_monitor.py
@@ -5,31 +5,40 @@ from common.filter_simple import FirstOrderFilter
from common.params import Params
params = Params()
-_AWARENESS_TIME = 180 # 3 minutes limit without user touching steering wheels make the car enter a terminal status
-_AWARENESS_PRE_TIME = 20. # a first alert is issued 20s before expiration
-_AWARENESS_PROMPT_TIME = 5. # a second alert is issued 5s before start decelerating the car
-_DISTRACTED_TIME = 7.
-_DISTRACTED_PRE_TIME = 4.
-_DISTRACTED_PROMPT_TIME = 2.
-# model output refers to center of cropped image, so need to apply the x displacement offset
+_AWARENESS_TIME = 90. # 1.5 minutes limit without user touching steering wheels make the car enter a terminal status
+_AWARENESS_PRE_TIME_TILL_TERMINAL = 20. # a first alert is issued 20s before expiration
+_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 5. # a second alert is issued 5s before start decelerating the car
+_DISTRACTED_TIME = 10.
+_DISTRACTED_PRE_TIME_TILL_TERMINAL = 7.
+_DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 5.
+
_FACE_THRESHOLD = 0.4
-_PITCH_WEIGHT = 1.5 # pitch matters a lot more
+_EYE_THRESHOLD = 0.4
+_BLINK_THRESHOLD = 0.2 # 0.225
+_PITCH_WEIGHT = 1.35 # 1.5 # pitch matters a lot more
_METRIC_THRESHOLD = 0.4
-_PITCH_POS_ALLOWANCE = 0.08 # rad, to not be too sensitive on positive pitch
-_PITCH_NATURAL_OFFSET = 0.1 # people don't seem to look straight when they drive relaxed, rather a bit up
-_YAW_NATURAL_OFFSET = 0.08 # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car)
-_STD_THRESHOLD = 0.1 # above this standard deviation consider the measurement invalid
+_PITCH_POS_ALLOWANCE = 0.04 # 0.08 # rad, to not be too sensitive on positive pitch
+_PITCH_NATURAL_OFFSET = 0.12 # 0.1 # people don't seem to look straight when they drive relaxed, rather a bit up
+_YAW_NATURAL_OFFSET = 0.08 # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car)
_DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
_VARIANCE_FILTER_TS = 20. # 0.008Hz
MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts
+
+# model output refers to center of cropped image, so need to apply the x displacement offset
RESIZED_FOCAL = 320.0
H, W, FULL_W = 320, 160, 426
-def head_orientation_from_descriptor(angles_desc, pos_desc):
+class DistractedType(object):
+ NOT_DISTRACTED = 0
+ BAD_POSE = 1
+ BAD_BLINK = 2
+
+def head_orientation_from_descriptor(angles_desc, pos_desc, rpy_calib):
# the output of these angles are in device frame
# so from driver's perspective, pitch is up and yaw is right
- # TODO this should be calibrated
+
+ # TODO: calibrate based on position
pitch_prnet = angles_desc[0]
yaw_prnet = angles_desc[1]
roll_prnet = angles_desc[2]
@@ -41,6 +50,11 @@ def head_orientation_from_descriptor(angles_desc, pos_desc):
roll = roll_prnet
pitch = pitch_prnet + pitch_focal_angle
yaw = -yaw_prnet + yaw_focal_angle
+
+ # no calib for roll
+ pitch -= rpy_calib[1]
+ yaw -= rpy_calib[2]
+
return np.array([roll, pitch, yaw])
@@ -52,15 +66,21 @@ class _DriverPose():
self.yaw_offset = 0.
self.pitch_offset = 0.
+class _DriverBlink():
+ def __init__(self):
+ self.left_blink = 0.
+ self.right_blink = 0.
+
+
def _monitor_hysteresis(variance_level, monitor_valid_prev):
var_thr = 0.63 if monitor_valid_prev else 0.37
return variance_level < var_thr
-
class DriverStatus():
def __init__(self, monitor_on=False):
self.pose = _DriverPose()
+ self.blink = _DriverBlink()
self.monitor_on = monitor_on
self.monitor_param_on = monitor_on
self.monitor_valid = True # variance needs to be low
@@ -72,7 +92,8 @@ class DriverStatus():
self.ts_last_check = 0.
self.face_detected = False
self.terminal_alert_cnt = 0
- self._set_timers()
+ self.step_change = 0.
+ self._set_timers(self.monitor_on)
# dragonpilot
self.dp_last_check = 0.
@@ -83,45 +104,51 @@ class DriverStatus():
self.variance_filter.x = 0.
self.monitor_valid = True
- def _set_timers(self):
- if self.monitor_on:
- self.threshold_pre = _DISTRACTED_PRE_TIME / _DISTRACTED_TIME
- self.threshold_prompt = _DISTRACTED_PROMPT_TIME / _DISTRACTED_TIME
+ def _set_timers(self, active_monitoring):
+ if active_monitoring:
+ # when falling back from passive mode to active mode, reset awareness to avoid false alert
+ if self.step_change == DT_CTRL / _AWARENESS_TIME:
+ self.awareness = 1.
+ self.threshold_pre = _DISTRACTED_PRE_TIME_TILL_TERMINAL / _DISTRACTED_TIME
+ self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
self.step_change = DT_CTRL / _DISTRACTED_TIME
else:
- self.threshold_pre = _AWARENESS_PRE_TIME / _AWARENESS_TIME
- self.threshold_prompt = _AWARENESS_PROMPT_TIME / _AWARENESS_TIME
+ self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / _AWARENESS_TIME
+ self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / _AWARENESS_TIME
self.step_change = DT_CTRL / _AWARENESS_TIME
- def _is_driver_distracted(self, pose):
- # to be tuned and to learn the driver's normal pose
+ def _is_driver_distracted(self, pose, blink):
+ # TODO: natural pose calib of each driver
pitch_error = pose.pitch - _PITCH_NATURAL_OFFSET
yaw_error = pose.yaw - _YAW_NATURAL_OFFSET
# add positive pitch allowance
if pitch_error > 0.:
pitch_error = max(pitch_error - _PITCH_POS_ALLOWANCE, 0.)
pitch_error *= _PITCH_WEIGHT
- metric = np.sqrt(yaw_error**2 + pitch_error**2)
- # TODO: do something with the eye states and combine them with head pose
- return 1 if metric > _METRIC_THRESHOLD else 0
+ pose_metric = np.sqrt(yaw_error**2 + pitch_error**2)
+
+ if pose_metric > _METRIC_THRESHOLD:
+ return DistractedType.BAD_POSE
+ elif blink.left_blink>_BLINK_THRESHOLD and blink.right_blink>_BLINK_THRESHOLD:
+ return DistractedType.BAD_BLINK
+ else:
+ return DistractedType.NOT_DISTRACTED
- def get_pose(self, driver_monitoring, params):
+ def get_pose(self, driver_monitoring, params, cal_rpy):
if len(driver_monitoring.faceOrientation) == 0 or len(driver_monitoring.facePosition) == 0:
return
- self.pose.roll, self.pose.pitch, self.pose.yaw = head_orientation_from_descriptor(driver_monitoring.faceOrientation, driver_monitoring.facePosition)
+ self.pose.roll, self.pose.pitch, self.pose.yaw = head_orientation_from_descriptor(driver_monitoring.faceOrientation, driver_monitoring.facePosition, cal_rpy)
+ self.blink.left_blink = driver_monitoring.leftBlinkProb * (driver_monitoring.leftEyeProb>_EYE_THRESHOLD)
+ self.blink.right_blink = driver_monitoring.rightBlinkProb * (driver_monitoring.rightEyeProb>_EYE_THRESHOLD)
self.face_detected = driver_monitoring.faceProb > _FACE_THRESHOLD
- self.driver_distracted = self._is_driver_distracted(self.pose)
+ self.driver_distracted = self._is_driver_distracted(self.pose, self.blink)>0
# first order filters
self.driver_distraction_filter.update(self.driver_distracted)
- self.variance_high = False #driver_monitoring.std > _STD_THRESHOLD
-
- self.variance_filter.update(self.variance_high)
monitor_param_on_prev = self.monitor_param_on
- monitor_valid_prev = self.monitor_valid
# don't check for param too often as it's a kernel call
ts = sec_since_boot()
@@ -129,14 +156,17 @@ class DriverStatus():
self.monitor_param_on = params.get("IsDriverMonitoringEnabled") == "1"
self.ts_last_check = ts
- self.monitor_valid = _monitor_hysteresis(self.variance_filter.x, monitor_valid_prev)
self.monitor_on = self.monitor_valid and self.monitor_param_on
if monitor_param_on_prev != self.monitor_param_on:
self._reset_filters()
- self._set_timers()
+ self._set_timers(self.monitor_on and self.face_detected)
def update(self, events, driver_engaged, ctrl_active, standstill):
+ if driver_engaged:
+ self.awareness = 1.
+ return events
+
# don't check for param too often as it's a kernel call
ts = sec_since_boot()
if ts - self.dp_last_check > 1.:
@@ -146,12 +176,12 @@ class DriverStatus():
driver_engaged |= (self.driver_distraction_filter.x < 0.37 and self.monitor_on)
awareness_prev = self.awareness
- if (driver_engaged and self.awareness > 0.) or not ctrl_active:
+ if (driver_engaged and self.awareness > 0) or not ctrl_active:
# always reset if driver is in control (unless we are in red alert state) or op isn't active
- self.awareness = 1.
+ self.awareness = min(self.awareness + (2.75*(1.-self.awareness)+1.25)*self.step_change, 1.)
- # only update if face is detected, driver is distracted and distraction filter is high
- if (not self.monitor_on or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected)) and \
+ # should always be counting if distracted unless at standstill and reaching orange
+ if ((not self.monitor_on or (self.monitor_on and not self.face_detected)) or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected)) and \
not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
self.awareness = max(self.awareness - self.step_change, -0.1)
diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
new file mode 100644
index 000000000..60a24b6d9
--- /dev/null
+++ b/selfdrive/controls/lib/lane_planner.py
@@ -0,0 +1,74 @@
+from common.numpy_fast import interp
+import numpy as np
+from selfdrive.controls.lib.latcontrol_helpers import model_polyfit, compute_path_pinv
+
+CAMERA_OFFSET = 0.06 # m from center car to camera
+
+
+def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width):
+ # This will improve behaviour when lanes suddenly widen
+ lane_width = min(4.0, lane_width)
+ l_prob = l_prob * interp(abs(l_poly[3]), [2, 2.5], [1.0, 0.0])
+ r_prob = r_prob * interp(abs(r_poly[3]), [2, 2.5], [1.0, 0.0])
+
+ path_from_left_lane = l_poly.copy()
+ path_from_left_lane[3] -= lane_width / 2.0
+ path_from_right_lane = r_poly.copy()
+ path_from_right_lane[3] += lane_width / 2.0
+
+ lr_prob = l_prob + r_prob - l_prob * r_prob
+
+ d_poly_lane = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
+ return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly
+
+
+class LanePlanner(object):
+ def __init__(self):
+ self.l_poly = [0., 0., 0., 0.]
+ self.r_poly = [0., 0., 0., 0.]
+ self.p_poly = [0., 0., 0., 0.]
+ self.d_poly = [0., 0., 0., 0.]
+
+ self.lane_width_estimate = 3.7
+ self.lane_width_certainty = 1.0
+ self.lane_width = 3.7
+
+ self.l_prob = 0.
+ self.r_prob = 0.
+ self.lr_prob = 0.
+
+ self._path_pinv = compute_path_pinv()
+ self.x_points = np.arange(50)
+
+ def parse_model(self, md):
+ if len(md.leftLane.poly):
+ self.l_poly = np.array(md.leftLane.poly)
+ self.r_poly = np.array(md.rightLane.poly)
+ self.p_poly = np.array(md.path.poly)
+ else:
+ self.l_poly = model_polyfit(md.leftLane.points, self._path_pinv) # left line
+ self.r_poly = model_polyfit(md.rightLane.points, self._path_pinv) # right line
+ self.p_poly = model_polyfit(md.path.points, self._path_pinv) # predicted path
+ self.l_prob = md.leftLane.prob # left line prob
+ self.r_prob = md.rightLane.prob # right line prob
+
+ def update_lane(self, v_ego):
+ # only offset left and right lane lines; offsetting p_poly does not make sense
+ self.l_poly[3] += CAMERA_OFFSET
+ self.r_poly[3] += CAMERA_OFFSET
+
+ self.lr_prob = self.l_prob + self.r_prob - self.l_prob * self.r_prob
+
+ # Find current lanewidth
+ self.lane_width_certainty += 0.05 * (self.l_prob * self.r_prob - self.lane_width_certainty)
+ current_lane_width = abs(self.l_poly[3] - self.r_poly[3])
+ self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate)
+ speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5])
+ self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
+ (1 - self.lane_width_certainty) * speed_lane_width
+
+ self.d_poly = calc_d_poly(self.l_poly, self.r_poly, self.p_poly, self.l_prob, self.r_prob, self.lane_width)
+
+ def update(self, v_ego, md):
+ self.parse_model(md)
+ self.update_lane(v_ego)
diff --git a/selfdrive/controls/lib/latcontrol_helpers.py b/selfdrive/controls/lib/latcontrol_helpers.py
index c04d820bb..ff5fa478a 100644
--- a/selfdrive/controls/lib/latcontrol_helpers.py
+++ b/selfdrive/controls/lib/latcontrol_helpers.py
@@ -60,30 +60,3 @@ def compute_path_pinv(l=50):
def model_polyfit(points, path_pinv):
return np.dot(path_pinv, [float(x) for x in points])
-
-
-def calc_desired_path(l_poly,
- r_poly,
- p_poly,
- l_prob,
- r_prob,
- p_prob,
- speed,
- lane_width=None):
- # this function computes the poly for the center of the lane, averaging left and right polys
- if lane_width is None:
- lane_width = interp(speed, _LANE_WIDTH_BP, _LANE_WIDTH_V)
-
- # lanes in US are ~3.6m wide
- half_lane_poly = np.array([0., 0., 0., lane_width / 2.])
- if l_prob + r_prob > 0.01:
- c_poly = ((l_poly - half_lane_poly) * l_prob +
- (r_poly + half_lane_poly) * r_prob) / (l_prob + r_prob)
- c_prob = l_prob + r_prob - l_prob * r_prob
- else:
- c_poly = np.zeros(4)
- c_prob = 0.
-
- p_weight = 1. # predicted path weight relatively to the center of the lane
- d_poly = list((c_poly * c_prob + p_poly * p_prob * p_weight) / (c_prob + p_prob * p_weight))
- return d_poly, c_poly, c_prob
diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py
index 31ff6dd3d..38ba8883b 100644
--- a/selfdrive/controls/lib/latcontrol_indi.py
+++ b/selfdrive/controls/lib/latcontrol_indi.py
@@ -47,7 +47,7 @@ class LatControlINDI(object):
self.output_steer = 0.
self.counter = 0
- def update(self, active, v_ego, angle_steers, angle_steers_rate, steer_override, CP, VM, path_plan):
+ def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, CP, VM, path_plan):
# Update Kalman filter
y = np.matrix([[math.radians(angle_steers)], [math.radians(angle_steers_rate)]])
self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y)
diff --git a/selfdrive/controls/lib/latcontrol_lqr.py b/selfdrive/controls/lib/latcontrol_lqr.py
new file mode 100644
index 000000000..8c0e3ec31
--- /dev/null
+++ b/selfdrive/controls/lib/latcontrol_lqr.py
@@ -0,0 +1,72 @@
+import numpy as np
+from selfdrive.controls.lib.drive_helpers import get_steer_max
+from common.numpy_fast import clip
+from cereal import log
+
+
+class LatControlLQR(object):
+ def __init__(self, CP, rate=100):
+ self.sat_flag = False
+ self.scale = CP.lateralTuning.lqr.scale
+ self.ki = CP.lateralTuning.lqr.ki
+
+
+ self.A = np.array(CP.lateralTuning.lqr.a).reshape((2,2))
+ self.B = np.array(CP.lateralTuning.lqr.b).reshape((2,1))
+ self.C = np.array(CP.lateralTuning.lqr.c).reshape((1,2))
+ self.K = np.array(CP.lateralTuning.lqr.k).reshape((1,2))
+ self.L = np.array(CP.lateralTuning.lqr.l).reshape((2,1))
+ self.dc_gain = CP.lateralTuning.lqr.dcGain
+
+ self.x_hat = np.array([[0], [0]])
+ self.i_unwind_rate = 0.3 / rate
+ self.i_rate = 1.0 / rate
+
+ self.reset()
+
+ def reset(self):
+ self.i_lqr = 0.0
+ self.output_steer = 0.0
+
+ def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, CP, VM, path_plan):
+ lqr_log = log.ControlsState.LateralLQRState.new_message()
+
+ torque_scale = (0.45 + v_ego / 60.0)**2 # Scale actuator model with speed
+
+ # Subtract offset. Zero angle should correspond to zero torque
+ self.angle_steers_des = path_plan.angleSteers - path_plan.angleOffset
+ angle_steers -= path_plan.angleOffset
+
+ # Update Kalman filter
+ angle_steers_k = float(self.C.dot(self.x_hat))
+ e = angle_steers - angle_steers_k
+ self.x_hat = self.A.dot(self.x_hat) + self.B.dot(eps_torque / torque_scale) + self.L.dot(e)
+
+ if v_ego < 0.3 or not active:
+ lqr_log.active = False
+ self.reset()
+ else:
+ lqr_log.active = True
+
+ # LQR
+ u_lqr = float(self.angle_steers_des / self.dc_gain - self.K.dot(self.x_hat))
+
+ # Integrator
+ if steer_override:
+ self.i_lqr -= self.i_unwind_rate * float(np.sign(self.i_lqr))
+ else:
+ self.i_lqr += self.ki * self.i_rate * (self.angle_steers_des - angle_steers_k)
+
+ lqr_output = torque_scale * u_lqr / self.scale
+ self.i_lqr = clip(self.i_lqr, -1.0 - lqr_output, 1.0 - lqr_output) # (LQR + I) has to be between -1 and 1
+
+ self.output_steer = lqr_output + self.i_lqr
+
+ # Clip output
+ steers_max = get_steer_max(CP, v_ego)
+ self.output_steer = clip(self.output_steer, -steers_max, steers_max)
+
+ lqr_log.steerAngle = angle_steers_k + path_plan.angleOffset
+ lqr_log.i = self.i_lqr
+ lqr_log.output = self.output_steer
+ return self.output_steer, float(self.angle_steers_des), lqr_log
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index 65a5a8b6d..5fe456d88 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -14,7 +14,7 @@ class LatControlPID(object):
def reset(self):
self.pid.reset()
- def update(self, active, v_ego, angle_steers, angle_steers_rate, steer_override, CP, VM, path_plan):
+ def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, CP, VM, path_plan):
pid_log = log.ControlsState.LateralPIDState.new_message()
pid_log.steerAngle = float(angle_steers)
pid_log.steerRate = float(angle_steers_rate)
diff --git a/selfdrive/controls/lib/lateral_mpc/generator.cpp b/selfdrive/controls/lib/lateral_mpc/generator.cpp
index 523ed8ac8..5f4a9a28d 100644
--- a/selfdrive/controls/lib/lateral_mpc/generator.cpp
+++ b/selfdrive/controls/lib/lateral_mpc/generator.cpp
@@ -23,8 +23,8 @@ int main( )
OnlineData v_ref; // m/s
OnlineData l_poly_r0, l_poly_r1, l_poly_r2, l_poly_r3;
OnlineData r_poly_r0, r_poly_r1, r_poly_r2, r_poly_r3;
- OnlineData p_poly_r0, p_poly_r1, p_poly_r2, p_poly_r3;
- OnlineData l_prob, r_prob, p_prob;
+ OnlineData d_poly_r0, d_poly_r1, d_poly_r2, d_poly_r3;
+ OnlineData l_prob, r_prob;
OnlineData lane_width;
Control t;
@@ -39,26 +39,13 @@ int main( )
auto poly_l = l_poly_r0*(xx*xx*xx) + l_poly_r1*(xx*xx) + l_poly_r2*xx + l_poly_r3;
auto poly_r = r_poly_r0*(xx*xx*xx) + r_poly_r1*(xx*xx) + r_poly_r2*xx + r_poly_r3;
- auto poly_p = p_poly_r0*(xx*xx*xx) + p_poly_r1*(xx*xx) + p_poly_r2*xx + p_poly_r3;
+ auto poly_d = d_poly_r0*(xx*xx*xx) + d_poly_r1*(xx*xx) + d_poly_r2*xx + d_poly_r3;
- auto angle_l = atan(3*l_poly_r0*xx*xx + 2*l_poly_r1*xx + l_poly_r2);
- auto angle_r = atan(3*r_poly_r0*xx*xx + 2*r_poly_r1*xx + r_poly_r2);
- auto angle_p = atan(3*p_poly_r0*xx*xx + 2*p_poly_r1*xx + p_poly_r2);
-
- // given the lane width estimate, this is where we estimate the path given lane lines
- auto path_from_left_lane = poly_l - lane_width/2.0;
- auto path_from_right_lane = poly_r + lane_width/2.0;
-
- // if the lanes are visible, drive in the center, otherwise follow the path
- auto path = lr_prob * (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
- + (1-lr_prob) * poly_p;
-
- auto angle = lr_prob * (l_prob * angle_l + r_prob * angle_r) / (l_prob + r_prob + 0.0001)
- + (1-lr_prob) * angle_p;
+ auto angle_d = atan(3*d_poly_r0*xx*xx + 2*d_poly_r1*xx + d_poly_r2);
// When the lane is not visible, use an estimate of its position
- auto weighted_left_lane = l_prob * poly_l + (1 - l_prob) * (path + lane_width/2.0);
- auto weighted_right_lane = r_prob * poly_r + (1 - r_prob) * (path - lane_width/2.0);
+ auto weighted_left_lane = l_prob * poly_l + (1 - l_prob) * (poly_d + lane_width/2.0);
+ auto weighted_right_lane = r_prob * poly_r + (1 - r_prob) * (poly_d - lane_width/2.0);
auto c_left_lane = exp(-(weighted_left_lane - yy));
auto c_right_lane = exp(weighted_right_lane - yy);
@@ -67,12 +54,12 @@ int main( )
Function h;
// Distance errors
- h << path - yy;
+ h << poly_d - yy;
h << lr_prob * c_left_lane;
h << lr_prob * c_right_lane;
// Heading error
- h << (v_ref + 1.0 ) * (angle - psi);
+ h << (v_ref + 1.0 ) * (angle_d - psi);
// Angular rate error
h << (v_ref + 1.0 ) * t;
@@ -88,12 +75,12 @@ int main( )
Function hN;
// Distance errors
- hN << path - yy;
+ hN << poly_d - yy;
hN << l_prob * c_left_lane;
hN << r_prob * c_right_lane;
// Heading errors
- hN << (2.0 * v_ref + 1.0 ) * (angle - psi);
+ hN << (2.0 * v_ref + 1.0 ) * (angle_d - psi);
BMatrix QN(4,4); QN.setAll(true);
// QN(0,0) = 1.0;
@@ -125,7 +112,7 @@ int main( )
ocp.subjectTo( deg2rad(-90) <= psi <= deg2rad(90));
// more than absolute max steer angle
ocp.subjectTo( deg2rad(-50) <= delta <= deg2rad(50));
- ocp.setNOD(18);
+ ocp.setNOD(17);
OCPexport mpc(ocp);
mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
diff --git a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c b/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c
index ea6f85b30..d8d29cc61 100644
--- a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c
+++ b/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c
@@ -65,8 +65,8 @@ void init(double pathCost, double laneCost, double headingCost, double steerRate
}
int run_mpc(state_t * x0, log_t * solution,
- double l_poly[4], double r_poly[4], double p_poly[4],
- double l_prob, double r_prob, double p_prob, double curvature_factor, double v_ref, double lane_width){
+ double l_poly[4], double r_poly[4], double d_poly[4],
+ double l_prob, double r_prob, double curvature_factor, double v_ref, double lane_width){
int i;
@@ -84,16 +84,15 @@ int run_mpc(state_t * x0, log_t * solution,
acadoVariables.od[i+8] = r_poly[2];
acadoVariables.od[i+9] = r_poly[3];
- acadoVariables.od[i+10] = p_poly[0];
- acadoVariables.od[i+11] = p_poly[1];
- acadoVariables.od[i+12] = p_poly[2];
- acadoVariables.od[i+13] = p_poly[3];
+ acadoVariables.od[i+10] = d_poly[0];
+ acadoVariables.od[i+11] = d_poly[1];
+ acadoVariables.od[i+12] = d_poly[2];
+ acadoVariables.od[i+13] = d_poly[3];
acadoVariables.od[i+14] = l_prob;
acadoVariables.od[i+15] = r_prob;
- acadoVariables.od[i+16] = p_prob;
- acadoVariables.od[i+17] = lane_width;
+ acadoVariables.od[i+16] = lane_width;
}
diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h
index d5b567277..f069b62c0 100644
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h
@@ -64,7 +64,7 @@ extern "C"
/** Number of control/estimation intervals. */
#define ACADO_N 20
/** Number of online data values. */
-#define ACADO_NOD 18
+#define ACADO_NOD 17
/** Number of path constraints. */
#define ACADO_NPAC 0
/** Number of control variables. */
@@ -114,11 +114,11 @@ real_t x[ 84 ];
*/
real_t u[ 20 ];
-/** Matrix of size: 21 x 18 (row major format)
+/** Matrix of size: 21 x 17 (row major format)
*
* Matrix containing 21 online data vectors.
*/
-real_t od[ 378 ];
+real_t od[ 357 ];
/** Column vector of size: 100
*
@@ -160,14 +160,14 @@ real_t rhs_aux[ 14 ];
real_t rk_ttt;
-/** Row vector of size: 43 */
-real_t rk_xxx[ 43 ];
+/** Row vector of size: 42 */
+real_t rk_xxx[ 42 ];
/** Matrix of size: 4 x 24 (row major format) */
real_t rk_kkk[ 96 ];
-/** Row vector of size: 43 */
-real_t state[ 43 ];
+/** Row vector of size: 42 */
+real_t state[ 42 ];
/** Column vector of size: 80 */
real_t d[ 80 ];
@@ -184,11 +184,11 @@ real_t evGx[ 320 ];
/** Column vector of size: 80 */
real_t evGu[ 80 ];
-/** Column vector of size: 21 */
-real_t objAuxVar[ 21 ];
+/** Column vector of size: 11 */
+real_t objAuxVar[ 11 ];
-/** Row vector of size: 23 */
-real_t objValueIn[ 23 ];
+/** Row vector of size: 22 */
+real_t objValueIn[ 22 ];
/** Row vector of size: 30 */
real_t objValueOut[ 30 ];
diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c
index b93108899..5df7cb47f 100644
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c
@@ -118,7 +118,6 @@ acadoWorkspace.rk_xxx[38] = rk_eta[38];
acadoWorkspace.rk_xxx[39] = rk_eta[39];
acadoWorkspace.rk_xxx[40] = rk_eta[40];
acadoWorkspace.rk_xxx[41] = rk_eta[41];
-acadoWorkspace.rk_xxx[42] = rk_eta[42];
for (run1 = 0; run1 < 1; ++run1)
{
diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c
index 014c19a01..347e77fa7 100644
--- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c
+++ b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c
@@ -43,24 +43,23 @@ acadoWorkspace.state[2] = acadoVariables.x[lRun1 * 4 + 2];
acadoWorkspace.state[3] = acadoVariables.x[lRun1 * 4 + 3];
acadoWorkspace.state[24] = acadoVariables.u[lRun1];
-acadoWorkspace.state[25] = acadoVariables.od[lRun1 * 18];
-acadoWorkspace.state[26] = acadoVariables.od[lRun1 * 18 + 1];
-acadoWorkspace.state[27] = acadoVariables.od[lRun1 * 18 + 2];
-acadoWorkspace.state[28] = acadoVariables.od[lRun1 * 18 + 3];
-acadoWorkspace.state[29] = acadoVariables.od[lRun1 * 18 + 4];
-acadoWorkspace.state[30] = acadoVariables.od[lRun1 * 18 + 5];
-acadoWorkspace.state[31] = acadoVariables.od[lRun1 * 18 + 6];
-acadoWorkspace.state[32] = acadoVariables.od[lRun1 * 18 + 7];
-acadoWorkspace.state[33] = acadoVariables.od[lRun1 * 18 + 8];
-acadoWorkspace.state[34] = acadoVariables.od[lRun1 * 18 + 9];
-acadoWorkspace.state[35] = acadoVariables.od[lRun1 * 18 + 10];
-acadoWorkspace.state[36] = acadoVariables.od[lRun1 * 18 + 11];
-acadoWorkspace.state[37] = acadoVariables.od[lRun1 * 18 + 12];
-acadoWorkspace.state[38] = acadoVariables.od[lRun1 * 18 + 13];
-acadoWorkspace.state[39] = acadoVariables.od[lRun1 * 18 + 14];
-acadoWorkspace.state[40] = acadoVariables.od[lRun1 * 18 + 15];
-acadoWorkspace.state[41] = acadoVariables.od[lRun1 * 18 + 16];
-acadoWorkspace.state[42] = acadoVariables.od[lRun1 * 18 + 17];
+acadoWorkspace.state[25] = acadoVariables.od[lRun1 * 17];
+acadoWorkspace.state[26] = acadoVariables.od[lRun1 * 17 + 1];
+acadoWorkspace.state[27] = acadoVariables.od[lRun1 * 17 + 2];
+acadoWorkspace.state[28] = acadoVariables.od[lRun1 * 17 + 3];
+acadoWorkspace.state[29] = acadoVariables.od[lRun1 * 17 + 4];
+acadoWorkspace.state[30] = acadoVariables.od[lRun1 * 17 + 5];
+acadoWorkspace.state[31] = acadoVariables.od[lRun1 * 17 + 6];
+acadoWorkspace.state[32] = acadoVariables.od[lRun1 * 17 + 7];
+acadoWorkspace.state[33] = acadoVariables.od[lRun1 * 17 + 8];
+acadoWorkspace.state[34] = acadoVariables.od[lRun1 * 17 + 9];
+acadoWorkspace.state[35] = acadoVariables.od[lRun1 * 17 + 10];
+acadoWorkspace.state[36] = acadoVariables.od[lRun1 * 17 + 11];
+acadoWorkspace.state[37] = acadoVariables.od[lRun1 * 17 + 12];
+acadoWorkspace.state[38] = acadoVariables.od[lRun1 * 17 + 13];
+acadoWorkspace.state[39] = acadoVariables.od[lRun1 * 17 + 14];
+acadoWorkspace.state[40] = acadoVariables.od[lRun1 * 17 + 15];
+acadoWorkspace.state[41] = acadoVariables.od[lRun1 * 17 + 16];
ret = acado_integrate(acadoWorkspace.state, 1, lRun1);
@@ -99,51 +98,41 @@ void acado_evaluateLSQ(const real_t* in, real_t* out)
const real_t* xd = in;
const real_t* u = in + 4;
const real_t* od = in + 5;
-/* Vector of auxiliary variables; number of elements: 21. */
+/* Vector of auxiliary variables; number of elements: 11. */
real_t* a = acadoWorkspace.objAuxVar;
/* Compute intermediate quantities: */
-a[0] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))+(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
-a[1] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))-(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
-a[2] = (atan(((((((real_t)(3.0000000000000000e+00)*od[2])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[3])*xd[0]))+od[4])));
-a[3] = (atan(((((((real_t)(3.0000000000000000e+00)*od[6])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[7])*xd[0]))+od[8])));
-a[4] = (atan(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12])));
-a[5] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
-a[6] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
-a[7] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))+(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
-a[8] = (((real_t)(0.0000000000000000e+00)-((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))))*a[6])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]))))))*a[7]);
-a[9] = (((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[7]);
-a[10] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
-a[11] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))-(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
-a[12] = (((od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))))*a[10])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12])))))*a[11]);
-a[13] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[11]);
-a[14] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[2])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[3])*xd[0]))+od[4]),2))));
-a[15] = ((((((real_t)(3.0000000000000000e+00)*od[2])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[2])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[3]))*a[14]);
-a[16] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[6])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[7])*xd[0]))+od[8]),2))));
-a[17] = ((((((real_t)(3.0000000000000000e+00)*od[6])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[6])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[7]))*a[16]);
-a[18] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
-a[19] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12]),2))));
-a[20] = ((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[10])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[11]))*a[19]);
+a[0] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])+(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
+a[1] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
+a[2] = (atan(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12])));
+a[3] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])+(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
+a[4] = (((real_t)(0.0000000000000000e+00)-((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]))))*a[3]);
+a[5] = (((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[3]);
+a[6] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
+a[7] = (((od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12])))*a[6]);
+a[8] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[6]);
+a[9] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12]),2))));
+a[10] = ((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[10])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[11]))*a[9]);
/* Compute outputs: */
-out[0] = ((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))-xd[1]);
+out[0] = (((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-xd[1]);
out[1] = (((od[14]+od[15])-(od[14]*od[15]))*a[0]);
out[2] = (((od[14]+od[15])-(od[14]*od[15]))*a[1]);
-out[3] = ((od[1]+(real_t)(1.0000000000000000e+00))*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*a[2])+(od[15]*a[3])))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*a[4]))-xd[2]));
+out[3] = ((od[1]+(real_t)(1.0000000000000000e+00))*(a[2]-xd[2]));
out[4] = ((od[1]+(real_t)(1.0000000000000000e+00))*u[0]);
-out[5] = (((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))))*a[5])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12])));
+out[5] = (((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]);
out[6] = ((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00));
out[7] = (real_t)(0.0000000000000000e+00);
out[8] = (real_t)(0.0000000000000000e+00);
-out[9] = (((od[14]+od[15])-(od[14]*od[15]))*a[8]);
-out[10] = (((od[14]+od[15])-(od[14]*od[15]))*a[9]);
+out[9] = (((od[14]+od[15])-(od[14]*od[15]))*a[4]);
+out[10] = (((od[14]+od[15])-(od[14]*od[15]))*a[5]);
out[11] = (real_t)(0.0000000000000000e+00);
out[12] = (real_t)(0.0000000000000000e+00);
-out[13] = (((od[14]+od[15])-(od[14]*od[15]))*a[12]);
-out[14] = (((od[14]+od[15])-(od[14]*od[15]))*a[13]);
+out[13] = (((od[14]+od[15])-(od[14]*od[15]))*a[7]);
+out[14] = (((od[14]+od[15])-(od[14]*od[15]))*a[8]);
out[15] = (real_t)(0.0000000000000000e+00);
out[16] = (real_t)(0.0000000000000000e+00);
-out[17] = ((od[1]+(real_t)(1.0000000000000000e+00))*(((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*a[15])+(od[15]*a[17])))*a[18])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*a[20])));
+out[17] = ((od[1]+(real_t)(1.0000000000000000e+00))*a[10]);
out[18] = (real_t)(0.0000000000000000e+00);
out[19] = ((od[1]+(real_t)(1.0000000000000000e+00))*((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)));
out[20] = (real_t)(0.0000000000000000e+00);
@@ -162,50 +151,40 @@ void acado_evaluateLSQEndTerm(const real_t* in, real_t* out)
{
const real_t* xd = in;
const real_t* od = in + 4;
-/* Vector of auxiliary variables; number of elements: 21. */
+/* Vector of auxiliary variables; number of elements: 11. */
real_t* a = acadoWorkspace.objAuxVar;
/* Compute intermediate quantities: */
-a[0] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))+(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
-a[1] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))-(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
-a[2] = (atan(((((((real_t)(3.0000000000000000e+00)*od[2])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[3])*xd[0]))+od[4])));
-a[3] = (atan(((((((real_t)(3.0000000000000000e+00)*od[6])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[7])*xd[0]))+od[8])));
-a[4] = (atan(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12])));
-a[5] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
-a[6] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
-a[7] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))+(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
-a[8] = (((real_t)(0.0000000000000000e+00)-((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))))*a[6])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]))))))*a[7]);
-a[9] = (((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[7]);
-a[10] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
-a[11] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))-(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
-a[12] = (((od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))))*a[10])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12])))))*a[11]);
-a[13] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[11]);
-a[14] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[2])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[3])*xd[0]))+od[4]),2))));
-a[15] = ((((((real_t)(3.0000000000000000e+00)*od[2])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[2])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[3]))*a[14]);
-a[16] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[6])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[7])*xd[0]))+od[8]),2))));
-a[17] = ((((((real_t)(3.0000000000000000e+00)*od[6])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[6])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[7]))*a[16]);
-a[18] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
-a[19] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12]),2))));
-a[20] = ((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[10])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[11]))*a[19]);
+a[0] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])+(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
+a[1] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
+a[2] = (atan(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12])));
+a[3] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])+(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
+a[4] = (((real_t)(0.0000000000000000e+00)-((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]))))*a[3]);
+a[5] = (((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[3]);
+a[6] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
+a[7] = (((od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12])))*a[6]);
+a[8] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[6]);
+a[9] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12]),2))));
+a[10] = ((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[10])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[11]))*a[9]);
/* Compute outputs: */
-out[0] = ((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))-xd[1]);
+out[0] = (((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-xd[1]);
out[1] = (od[14]*a[0]);
out[2] = (od[15]*a[1]);
-out[3] = ((((real_t)(2.0000000000000000e+00)*od[1])+(real_t)(1.0000000000000000e+00))*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*a[2])+(od[15]*a[3])))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*a[4]))-xd[2]));
-out[4] = (((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))))*a[5])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12])));
+out[3] = ((((real_t)(2.0000000000000000e+00)*od[1])+(real_t)(1.0000000000000000e+00))*(a[2]-xd[2]));
+out[4] = (((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]);
out[5] = ((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00));
out[6] = (real_t)(0.0000000000000000e+00);
out[7] = (real_t)(0.0000000000000000e+00);
-out[8] = (od[14]*a[8]);
-out[9] = (od[14]*a[9]);
+out[8] = (od[14]*a[4]);
+out[9] = (od[14]*a[5]);
out[10] = (real_t)(0.0000000000000000e+00);
out[11] = (real_t)(0.0000000000000000e+00);
-out[12] = (od[15]*a[12]);
-out[13] = (od[15]*a[13]);
+out[12] = (od[15]*a[7]);
+out[13] = (od[15]*a[8]);
out[14] = (real_t)(0.0000000000000000e+00);
out[15] = (real_t)(0.0000000000000000e+00);
-out[16] = ((((real_t)(2.0000000000000000e+00)*od[1])+(real_t)(1.0000000000000000e+00))*(((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*a[15])+(od[15]*a[17])))*a[18])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*a[20])));
+out[16] = ((((real_t)(2.0000000000000000e+00)*od[1])+(real_t)(1.0000000000000000e+00))*a[10]);
out[17] = (real_t)(0.0000000000000000e+00);
out[18] = ((((real_t)(2.0000000000000000e+00)*od[1])+(real_t)(1.0000000000000000e+00))*((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)));
out[19] = (real_t)(0.0000000000000000e+00);
@@ -307,24 +286,23 @@ acadoWorkspace.objValueIn[1] = acadoVariables.x[runObj * 4 + 1];
acadoWorkspace.objValueIn[2] = acadoVariables.x[runObj * 4 + 2];
acadoWorkspace.objValueIn[3] = acadoVariables.x[runObj * 4 + 3];
acadoWorkspace.objValueIn[4] = acadoVariables.u[runObj];
-acadoWorkspace.objValueIn[5] = acadoVariables.od[runObj * 18];
-acadoWorkspace.objValueIn[6] = acadoVariables.od[runObj * 18 + 1];
-acadoWorkspace.objValueIn[7] = acadoVariables.od[runObj * 18 + 2];
-acadoWorkspace.objValueIn[8] = acadoVariables.od[runObj * 18 + 3];
-acadoWorkspace.objValueIn[9] = acadoVariables.od[runObj * 18 + 4];
-acadoWorkspace.objValueIn[10] = acadoVariables.od[runObj * 18 + 5];
-acadoWorkspace.objValueIn[11] = acadoVariables.od[runObj * 18 + 6];
-acadoWorkspace.objValueIn[12] = acadoVariables.od[runObj * 18 + 7];
-acadoWorkspace.objValueIn[13] = acadoVariables.od[runObj * 18 + 8];
-acadoWorkspace.objValueIn[14] = acadoVariables.od[runObj * 18 + 9];
-acadoWorkspace.objValueIn[15] = acadoVariables.od[runObj * 18 + 10];
-acadoWorkspace.objValueIn[16] = acadoVariables.od[runObj * 18 + 11];
-acadoWorkspace.objValueIn[17] = acadoVariables.od[runObj * 18 + 12];
-acadoWorkspace.objValueIn[18] = acadoVariables.od[runObj * 18 + 13];
-acadoWorkspace.objValueIn[19] = acadoVariables.od[runObj * 18 + 14];
-acadoWorkspace.objValueIn[20] = acadoVariables.od[runObj * 18 + 15];
-acadoWorkspace.objValueIn[21] = acadoVariables.od[runObj * 18 + 16];
-acadoWorkspace.objValueIn[22] = acadoVariables.od[runObj * 18 + 17];
+acadoWorkspace.objValueIn[5] = acadoVariables.od[runObj * 17];
+acadoWorkspace.objValueIn[6] = acadoVariables.od[runObj * 17 + 1];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[runObj * 17 + 2];
+acadoWorkspace.objValueIn[8] = acadoVariables.od[runObj * 17 + 3];
+acadoWorkspace.objValueIn[9] = acadoVariables.od[runObj * 17 + 4];
+acadoWorkspace.objValueIn[10] = acadoVariables.od[runObj * 17 + 5];
+acadoWorkspace.objValueIn[11] = acadoVariables.od[runObj * 17 + 6];
+acadoWorkspace.objValueIn[12] = acadoVariables.od[runObj * 17 + 7];
+acadoWorkspace.objValueIn[13] = acadoVariables.od[runObj * 17 + 8];
+acadoWorkspace.objValueIn[14] = acadoVariables.od[runObj * 17 + 9];
+acadoWorkspace.objValueIn[15] = acadoVariables.od[runObj * 17 + 10];
+acadoWorkspace.objValueIn[16] = acadoVariables.od[runObj * 17 + 11];
+acadoWorkspace.objValueIn[17] = acadoVariables.od[runObj * 17 + 12];
+acadoWorkspace.objValueIn[18] = acadoVariables.od[runObj * 17 + 13];
+acadoWorkspace.objValueIn[19] = acadoVariables.od[runObj * 17 + 14];
+acadoWorkspace.objValueIn[20] = acadoVariables.od[runObj * 17 + 15];
+acadoWorkspace.objValueIn[21] = acadoVariables.od[runObj * 17 + 16];
acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
acadoWorkspace.Dy[runObj * 5] = acadoWorkspace.objValueOut[0];
@@ -342,24 +320,23 @@ acadoWorkspace.objValueIn[0] = acadoVariables.x[80];
acadoWorkspace.objValueIn[1] = acadoVariables.x[81];
acadoWorkspace.objValueIn[2] = acadoVariables.x[82];
acadoWorkspace.objValueIn[3] = acadoVariables.x[83];
-acadoWorkspace.objValueIn[4] = acadoVariables.od[360];
-acadoWorkspace.objValueIn[5] = acadoVariables.od[361];
-acadoWorkspace.objValueIn[6] = acadoVariables.od[362];
-acadoWorkspace.objValueIn[7] = acadoVariables.od[363];
-acadoWorkspace.objValueIn[8] = acadoVariables.od[364];
-acadoWorkspace.objValueIn[9] = acadoVariables.od[365];
-acadoWorkspace.objValueIn[10] = acadoVariables.od[366];
-acadoWorkspace.objValueIn[11] = acadoVariables.od[367];
-acadoWorkspace.objValueIn[12] = acadoVariables.od[368];
-acadoWorkspace.objValueIn[13] = acadoVariables.od[369];
-acadoWorkspace.objValueIn[14] = acadoVariables.od[370];
-acadoWorkspace.objValueIn[15] = acadoVariables.od[371];
-acadoWorkspace.objValueIn[16] = acadoVariables.od[372];
-acadoWorkspace.objValueIn[17] = acadoVariables.od[373];
-acadoWorkspace.objValueIn[18] = acadoVariables.od[374];
-acadoWorkspace.objValueIn[19] = acadoVariables.od[375];
-acadoWorkspace.objValueIn[20] = acadoVariables.od[376];
-acadoWorkspace.objValueIn[21] = acadoVariables.od[377];
+acadoWorkspace.objValueIn[4] = acadoVariables.od[340];
+acadoWorkspace.objValueIn[5] = acadoVariables.od[341];
+acadoWorkspace.objValueIn[6] = acadoVariables.od[342];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[343];
+acadoWorkspace.objValueIn[8] = acadoVariables.od[344];
+acadoWorkspace.objValueIn[9] = acadoVariables.od[345];
+acadoWorkspace.objValueIn[10] = acadoVariables.od[346];
+acadoWorkspace.objValueIn[11] = acadoVariables.od[347];
+acadoWorkspace.objValueIn[12] = acadoVariables.od[348];
+acadoWorkspace.objValueIn[13] = acadoVariables.od[349];
+acadoWorkspace.objValueIn[14] = acadoVariables.od[350];
+acadoWorkspace.objValueIn[15] = acadoVariables.od[351];
+acadoWorkspace.objValueIn[16] = acadoVariables.od[352];
+acadoWorkspace.objValueIn[17] = acadoVariables.od[353];
+acadoWorkspace.objValueIn[18] = acadoVariables.od[354];
+acadoWorkspace.objValueIn[19] = acadoVariables.od[355];
+acadoWorkspace.objValueIn[20] = acadoVariables.od[356];
acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0];
@@ -4966,24 +4943,23 @@ acadoWorkspace.state[1] = acadoVariables.x[index * 4 + 1];
acadoWorkspace.state[2] = acadoVariables.x[index * 4 + 2];
acadoWorkspace.state[3] = acadoVariables.x[index * 4 + 3];
acadoWorkspace.state[24] = acadoVariables.u[index];
-acadoWorkspace.state[25] = acadoVariables.od[index * 18];
-acadoWorkspace.state[26] = acadoVariables.od[index * 18 + 1];
-acadoWorkspace.state[27] = acadoVariables.od[index * 18 + 2];
-acadoWorkspace.state[28] = acadoVariables.od[index * 18 + 3];
-acadoWorkspace.state[29] = acadoVariables.od[index * 18 + 4];
-acadoWorkspace.state[30] = acadoVariables.od[index * 18 + 5];
-acadoWorkspace.state[31] = acadoVariables.od[index * 18 + 6];
-acadoWorkspace.state[32] = acadoVariables.od[index * 18 + 7];
-acadoWorkspace.state[33] = acadoVariables.od[index * 18 + 8];
-acadoWorkspace.state[34] = acadoVariables.od[index * 18 + 9];
-acadoWorkspace.state[35] = acadoVariables.od[index * 18 + 10];
-acadoWorkspace.state[36] = acadoVariables.od[index * 18 + 11];
-acadoWorkspace.state[37] = acadoVariables.od[index * 18 + 12];
-acadoWorkspace.state[38] = acadoVariables.od[index * 18 + 13];
-acadoWorkspace.state[39] = acadoVariables.od[index * 18 + 14];
-acadoWorkspace.state[40] = acadoVariables.od[index * 18 + 15];
-acadoWorkspace.state[41] = acadoVariables.od[index * 18 + 16];
-acadoWorkspace.state[42] = acadoVariables.od[index * 18 + 17];
+acadoWorkspace.state[25] = acadoVariables.od[index * 17];
+acadoWorkspace.state[26] = acadoVariables.od[index * 17 + 1];
+acadoWorkspace.state[27] = acadoVariables.od[index * 17 + 2];
+acadoWorkspace.state[28] = acadoVariables.od[index * 17 + 3];
+acadoWorkspace.state[29] = acadoVariables.od[index * 17 + 4];
+acadoWorkspace.state[30] = acadoVariables.od[index * 17 + 5];
+acadoWorkspace.state[31] = acadoVariables.od[index * 17 + 6];
+acadoWorkspace.state[32] = acadoVariables.od[index * 17 + 7];
+acadoWorkspace.state[33] = acadoVariables.od[index * 17 + 8];
+acadoWorkspace.state[34] = acadoVariables.od[index * 17 + 9];
+acadoWorkspace.state[35] = acadoVariables.od[index * 17 + 10];
+acadoWorkspace.state[36] = acadoVariables.od[index * 17 + 11];
+acadoWorkspace.state[37] = acadoVariables.od[index * 17 + 12];
+acadoWorkspace.state[38] = acadoVariables.od[index * 17 + 13];
+acadoWorkspace.state[39] = acadoVariables.od[index * 17 + 14];
+acadoWorkspace.state[40] = acadoVariables.od[index * 17 + 15];
+acadoWorkspace.state[41] = acadoVariables.od[index * 17 + 16];
acado_integrate(acadoWorkspace.state, index == 0, index);
@@ -5026,24 +5002,23 @@ else
{
acadoWorkspace.state[24] = acadoVariables.u[19];
}
-acadoWorkspace.state[25] = acadoVariables.od[360];
-acadoWorkspace.state[26] = acadoVariables.od[361];
-acadoWorkspace.state[27] = acadoVariables.od[362];
-acadoWorkspace.state[28] = acadoVariables.od[363];
-acadoWorkspace.state[29] = acadoVariables.od[364];
-acadoWorkspace.state[30] = acadoVariables.od[365];
-acadoWorkspace.state[31] = acadoVariables.od[366];
-acadoWorkspace.state[32] = acadoVariables.od[367];
-acadoWorkspace.state[33] = acadoVariables.od[368];
-acadoWorkspace.state[34] = acadoVariables.od[369];
-acadoWorkspace.state[35] = acadoVariables.od[370];
-acadoWorkspace.state[36] = acadoVariables.od[371];
-acadoWorkspace.state[37] = acadoVariables.od[372];
-acadoWorkspace.state[38] = acadoVariables.od[373];
-acadoWorkspace.state[39] = acadoVariables.od[374];
-acadoWorkspace.state[40] = acadoVariables.od[375];
-acadoWorkspace.state[41] = acadoVariables.od[376];
-acadoWorkspace.state[42] = acadoVariables.od[377];
+acadoWorkspace.state[25] = acadoVariables.od[340];
+acadoWorkspace.state[26] = acadoVariables.od[341];
+acadoWorkspace.state[27] = acadoVariables.od[342];
+acadoWorkspace.state[28] = acadoVariables.od[343];
+acadoWorkspace.state[29] = acadoVariables.od[344];
+acadoWorkspace.state[30] = acadoVariables.od[345];
+acadoWorkspace.state[31] = acadoVariables.od[346];
+acadoWorkspace.state[32] = acadoVariables.od[347];
+acadoWorkspace.state[33] = acadoVariables.od[348];
+acadoWorkspace.state[34] = acadoVariables.od[349];
+acadoWorkspace.state[35] = acadoVariables.od[350];
+acadoWorkspace.state[36] = acadoVariables.od[351];
+acadoWorkspace.state[37] = acadoVariables.od[352];
+acadoWorkspace.state[38] = acadoVariables.od[353];
+acadoWorkspace.state[39] = acadoVariables.od[354];
+acadoWorkspace.state[40] = acadoVariables.od[355];
+acadoWorkspace.state[41] = acadoVariables.od[356];
acado_integrate(acadoWorkspace.state, 1, 19);
@@ -5114,24 +5089,23 @@ acadoWorkspace.objValueIn[1] = acadoVariables.x[lRun1 * 4 + 1];
acadoWorkspace.objValueIn[2] = acadoVariables.x[lRun1 * 4 + 2];
acadoWorkspace.objValueIn[3] = acadoVariables.x[lRun1 * 4 + 3];
acadoWorkspace.objValueIn[4] = acadoVariables.u[lRun1];
-acadoWorkspace.objValueIn[5] = acadoVariables.od[lRun1 * 18];
-acadoWorkspace.objValueIn[6] = acadoVariables.od[lRun1 * 18 + 1];
-acadoWorkspace.objValueIn[7] = acadoVariables.od[lRun1 * 18 + 2];
-acadoWorkspace.objValueIn[8] = acadoVariables.od[lRun1 * 18 + 3];
-acadoWorkspace.objValueIn[9] = acadoVariables.od[lRun1 * 18 + 4];
-acadoWorkspace.objValueIn[10] = acadoVariables.od[lRun1 * 18 + 5];
-acadoWorkspace.objValueIn[11] = acadoVariables.od[lRun1 * 18 + 6];
-acadoWorkspace.objValueIn[12] = acadoVariables.od[lRun1 * 18 + 7];
-acadoWorkspace.objValueIn[13] = acadoVariables.od[lRun1 * 18 + 8];
-acadoWorkspace.objValueIn[14] = acadoVariables.od[lRun1 * 18 + 9];
-acadoWorkspace.objValueIn[15] = acadoVariables.od[lRun1 * 18 + 10];
-acadoWorkspace.objValueIn[16] = acadoVariables.od[lRun1 * 18 + 11];
-acadoWorkspace.objValueIn[17] = acadoVariables.od[lRun1 * 18 + 12];
-acadoWorkspace.objValueIn[18] = acadoVariables.od[lRun1 * 18 + 13];
-acadoWorkspace.objValueIn[19] = acadoVariables.od[lRun1 * 18 + 14];
-acadoWorkspace.objValueIn[20] = acadoVariables.od[lRun1 * 18 + 15];
-acadoWorkspace.objValueIn[21] = acadoVariables.od[lRun1 * 18 + 16];
-acadoWorkspace.objValueIn[22] = acadoVariables.od[lRun1 * 18 + 17];
+acadoWorkspace.objValueIn[5] = acadoVariables.od[lRun1 * 17];
+acadoWorkspace.objValueIn[6] = acadoVariables.od[lRun1 * 17 + 1];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[lRun1 * 17 + 2];
+acadoWorkspace.objValueIn[8] = acadoVariables.od[lRun1 * 17 + 3];
+acadoWorkspace.objValueIn[9] = acadoVariables.od[lRun1 * 17 + 4];
+acadoWorkspace.objValueIn[10] = acadoVariables.od[lRun1 * 17 + 5];
+acadoWorkspace.objValueIn[11] = acadoVariables.od[lRun1 * 17 + 6];
+acadoWorkspace.objValueIn[12] = acadoVariables.od[lRun1 * 17 + 7];
+acadoWorkspace.objValueIn[13] = acadoVariables.od[lRun1 * 17 + 8];
+acadoWorkspace.objValueIn[14] = acadoVariables.od[lRun1 * 17 + 9];
+acadoWorkspace.objValueIn[15] = acadoVariables.od[lRun1 * 17 + 10];
+acadoWorkspace.objValueIn[16] = acadoVariables.od[lRun1 * 17 + 11];
+acadoWorkspace.objValueIn[17] = acadoVariables.od[lRun1 * 17 + 12];
+acadoWorkspace.objValueIn[18] = acadoVariables.od[lRun1 * 17 + 13];
+acadoWorkspace.objValueIn[19] = acadoVariables.od[lRun1 * 17 + 14];
+acadoWorkspace.objValueIn[20] = acadoVariables.od[lRun1 * 17 + 15];
+acadoWorkspace.objValueIn[21] = acadoVariables.od[lRun1 * 17 + 16];
acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
acadoWorkspace.Dy[lRun1 * 5] = acadoWorkspace.objValueOut[0] - acadoVariables.y[lRun1 * 5];
@@ -5144,24 +5118,23 @@ acadoWorkspace.objValueIn[0] = acadoVariables.x[80];
acadoWorkspace.objValueIn[1] = acadoVariables.x[81];
acadoWorkspace.objValueIn[2] = acadoVariables.x[82];
acadoWorkspace.objValueIn[3] = acadoVariables.x[83];
-acadoWorkspace.objValueIn[4] = acadoVariables.od[360];
-acadoWorkspace.objValueIn[5] = acadoVariables.od[361];
-acadoWorkspace.objValueIn[6] = acadoVariables.od[362];
-acadoWorkspace.objValueIn[7] = acadoVariables.od[363];
-acadoWorkspace.objValueIn[8] = acadoVariables.od[364];
-acadoWorkspace.objValueIn[9] = acadoVariables.od[365];
-acadoWorkspace.objValueIn[10] = acadoVariables.od[366];
-acadoWorkspace.objValueIn[11] = acadoVariables.od[367];
-acadoWorkspace.objValueIn[12] = acadoVariables.od[368];
-acadoWorkspace.objValueIn[13] = acadoVariables.od[369];
-acadoWorkspace.objValueIn[14] = acadoVariables.od[370];
-acadoWorkspace.objValueIn[15] = acadoVariables.od[371];
-acadoWorkspace.objValueIn[16] = acadoVariables.od[372];
-acadoWorkspace.objValueIn[17] = acadoVariables.od[373];
-acadoWorkspace.objValueIn[18] = acadoVariables.od[374];
-acadoWorkspace.objValueIn[19] = acadoVariables.od[375];
-acadoWorkspace.objValueIn[20] = acadoVariables.od[376];
-acadoWorkspace.objValueIn[21] = acadoVariables.od[377];
+acadoWorkspace.objValueIn[4] = acadoVariables.od[340];
+acadoWorkspace.objValueIn[5] = acadoVariables.od[341];
+acadoWorkspace.objValueIn[6] = acadoVariables.od[342];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[343];
+acadoWorkspace.objValueIn[8] = acadoVariables.od[344];
+acadoWorkspace.objValueIn[9] = acadoVariables.od[345];
+acadoWorkspace.objValueIn[10] = acadoVariables.od[346];
+acadoWorkspace.objValueIn[11] = acadoVariables.od[347];
+acadoWorkspace.objValueIn[12] = acadoVariables.od[348];
+acadoWorkspace.objValueIn[13] = acadoVariables.od[349];
+acadoWorkspace.objValueIn[14] = acadoVariables.od[350];
+acadoWorkspace.objValueIn[15] = acadoVariables.od[351];
+acadoWorkspace.objValueIn[16] = acadoVariables.od[352];
+acadoWorkspace.objValueIn[17] = acadoVariables.od[353];
+acadoWorkspace.objValueIn[18] = acadoVariables.od[354];
+acadoWorkspace.objValueIn[19] = acadoVariables.od[355];
+acadoWorkspace.objValueIn[20] = acadoVariables.od[356];
acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0] - acadoVariables.yN[0];
acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1] - acadoVariables.yN[1];
diff --git a/selfdrive/controls/lib/lateral_mpc/libmpc_py.py b/selfdrive/controls/lib/lateral_mpc/libmpc_py.py
index 6b86d9565..92c0df8da 100644
--- a/selfdrive/controls/lib/lateral_mpc/libmpc_py.py
+++ b/selfdrive/controls/lib/lateral_mpc/libmpc_py.py
@@ -24,8 +24,8 @@ typedef struct {
void init(double pathCost, double laneCost, double headingCost, double steerRateCost);
int run_mpc(state_t * x0, log_t * solution,
- double l_poly[4], double r_poly[4], double p_poly[4],
- double l_prob, double r_prob, double p_prob, double curvature_factor, double v_ref, double lane_width);
+ double l_poly[4], double r_poly[4], double d_poly[4],
+ double l_prob, double r_prob, double curvature_factor, double v_ref, double lane_width);
""")
libmpc = ffi.dlopen(libmpc_fn)
diff --git a/selfdrive/controls/lib/model_parser.py b/selfdrive/controls/lib/model_parser.py
index 199959fdb..e69de29bb 100644
--- a/selfdrive/controls/lib/model_parser.py
+++ b/selfdrive/controls/lib/model_parser.py
@@ -1,66 +0,0 @@
-from common.numpy_fast import interp
-import numpy as np
-from selfdrive.controls.lib.latcontrol_helpers import model_polyfit, calc_desired_path, compute_path_pinv
-
-CAMERA_OFFSET = 0.06 # m from center car to camera
-
-
-class ModelParser(object):
- def __init__(self):
- self.d_poly = [0., 0., 0., 0.]
- self.c_poly = [0., 0., 0., 0.]
- self.c_prob = 0.
- self.last_model = 0.
- self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
- self._path_pinv = compute_path_pinv()
-
- self.lane_width_estimate = 3.5
- self.lane_width_certainty = 1.0
- self.lane_width = 3.5
- self.l_prob = 0.
- self.r_prob = 0.
- self.x_points = np.arange(50)
-
- def update(self, v_ego, md):
- if len(md.leftLane.poly):
- l_poly = np.array(md.leftLane.poly)
- r_poly = np.array(md.rightLane.poly)
- p_poly = np.array(md.path.poly)
- else:
- l_poly = model_polyfit(md.leftLane.points, self._path_pinv) # left line
- r_poly = model_polyfit(md.rightLane.points, self._path_pinv) # right line
- p_poly = model_polyfit(md.path.points, self._path_pinv) # predicted path
-
- # only offset left and right lane lines; offsetting p_poly does not make sense
- l_poly[3] += CAMERA_OFFSET
- r_poly[3] += CAMERA_OFFSET
-
- p_prob = 1. # model does not tell this probability yet, so set to 1 for now
- l_prob = md.leftLane.prob # left line prob
- r_prob = md.rightLane.prob # right line prob
-
- # Find current lanewidth
- lr_prob = l_prob * r_prob
- self.lane_width_certainty += 0.05 * (lr_prob - self.lane_width_certainty)
- current_lane_width = abs(l_poly[3] - r_poly[3])
- self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate)
- speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5])
- self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
- (1 - self.lane_width_certainty) * speed_lane_width
-
- self.lead_dist = md.lead.dist
- self.lead_prob = md.lead.prob
- self.lead_var = md.lead.std**2
-
- # compute target path
- self.d_poly, self.c_poly, self.c_prob = calc_desired_path(
- l_poly, r_poly, p_poly, l_prob, r_prob, p_prob, v_ego, self.lane_width)
-
- self.r_poly = r_poly
- self.r_prob = r_prob
-
- self.l_poly = l_poly
- self.l_prob = l_prob
-
- self.p_poly = p_poly
- self.p_prob = p_prob
diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index 190f7c843..faa812ac6 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -2,12 +2,13 @@ import os
import math
import numpy as np
+# from common.numpy_fast import clip
from common.realtime import sec_since_boot
from selfdrive.services import service_list
from selfdrive.swaglog import cloudlog
from selfdrive.controls.lib.lateral_mpc import libmpc_py
from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
-from selfdrive.controls.lib.model_parser import ModelParser
+from selfdrive.controls.lib.lane_planner import LanePlanner
import selfdrive.messaging as messaging
LOG_MPC = os.environ.get('LOG_MPC', False)
@@ -21,10 +22,7 @@ def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_
class PathPlanner(object):
def __init__(self, CP):
- self.MP = ModelParser()
-
- self.l_poly = [0., 0., 0., 0.]
- self.r_poly = [0., 0., 0., 0.]
+ self.LP = LanePlanner()
self.last_cloudlog_t = 0
@@ -33,6 +31,7 @@ class PathPlanner(object):
self.setup_mpc(CP.steerRateCost)
self.solution_invalid_cnt = 0
+ self.path_offset_i = 0.0
def setup_mpc(self, steer_rate_cost):
self.libmpc = libmpc_py.libmpc
@@ -50,10 +49,6 @@ class PathPlanner(object):
self.angle_steers_des_prev = 0.0
self.angle_steers_des_time = 0.0
- self.l_poly = libmpc_py.ffi.new("double[4]")
- self.r_poly = libmpc_py.ffi.new("double[4]")
- self.p_poly = libmpc_py.ffi.new("double[4]")
-
def update(self, sm, CP, VM):
v_ego = sm['carState'].vEgo
angle_steers = sm['carState'].steeringAngle
@@ -62,23 +57,28 @@ class PathPlanner(object):
angle_offset_average = sm['liveParameters'].angleOffsetAverage
angle_offset_bias = sm['controlsState'].angleModelBias + angle_offset_average
- self.MP.update(v_ego, sm['model'])
+ self.LP.update(v_ego, sm['model'])
# Run MPC
self.angle_steers_des_prev = self.angle_steers_des_mpc
VM.update_params(sm['liveParameters'].stiffnessFactor, sm['liveParameters'].steerRatio)
curvature_factor = VM.curvature_factor(v_ego)
- self.l_poly = list(self.MP.l_poly)
- self.r_poly = list(self.MP.r_poly)
- self.p_poly = list(self.MP.p_poly)
+
+ # TODO: Check for active, override, and saturation
+ # if active:
+ # self.path_offset_i += self.LP.d_poly[3] / (60.0 * 20.0)
+ # self.path_offset_i = clip(self.path_offset_i, -0.5, 0.5)
+ # self.LP.d_poly[3] += self.path_offset_i
+ # else:
+ # self.path_offset_i = 0.0
# account for actuation delay
self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers - angle_offset_average, curvature_factor, VM.sR, CP.steerActuatorDelay)
v_ego_mpc = max(v_ego, 5.0) # avoid mpc roughness due to low speed
self.libmpc.run_mpc(self.cur_state, self.mpc_solution,
- self.l_poly, self.r_poly, self.p_poly,
- self.MP.l_prob, self.MP.r_prob, self.MP.p_prob, curvature_factor, v_ego_mpc, self.MP.lane_width)
+ list(self.LP.l_poly), list(self.LP.r_poly), list(self.LP.d_poly),
+ self.LP.l_prob, self.LP.r_prob, curvature_factor, v_ego_mpc, self.LP.lane_width)
# reset to current steer angle if not active or overriding
if active:
@@ -112,17 +112,16 @@ class PathPlanner(object):
plan_send = messaging.new_message()
plan_send.init('pathPlan')
plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'liveParameters', 'model'])
- plan_send.pathPlan.laneWidth = float(self.MP.lane_width)
- plan_send.pathPlan.dPoly = [float(x) for x in self.MP.d_poly]
- plan_send.pathPlan.cPoly = [float(x) for x in self.MP.c_poly]
- plan_send.pathPlan.cProb = float(self.MP.c_prob)
- plan_send.pathPlan.lPoly = [float(x) for x in self.l_poly]
- plan_send.pathPlan.lProb = float(self.MP.l_prob)
- plan_send.pathPlan.rPoly = [float(x) for x in self.r_poly]
- plan_send.pathPlan.rProb = float(self.MP.r_prob)
+ plan_send.pathPlan.laneWidth = float(self.LP.lane_width)
+ plan_send.pathPlan.dPoly = [float(x) for x in self.LP.d_poly]
+ plan_send.pathPlan.lPoly = [float(x) for x in self.LP.l_poly]
+ plan_send.pathPlan.lProb = float(self.LP.l_prob)
+ plan_send.pathPlan.rPoly = [float(x) for x in self.LP.r_poly]
+ plan_send.pathPlan.rProb = float(self.LP.r_prob)
+
plan_send.pathPlan.angleSteers = float(self.angle_steers_des_mpc)
plan_send.pathPlan.rateSteers = float(rate_desired)
- plan_send.pathPlan.angleOffset = float(angle_offset_average)
+ plan_send.pathPlan.angleOffset = float(self.path_offset_i)
plan_send.pathPlan.mpcSolutionValid = bool(plan_solution_valid)
plan_send.pathPlan.paramsValid = bool(sm['liveParameters'].valid)
plan_send.pathPlan.sensorValid = bool(sm['liveParameters'].sensorValid)
diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
index 2e01a8f4f..52712d15a 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -3,7 +3,6 @@ import math
import numpy as np
from common.params import Params
from common.numpy_fast import interp
-from common.kalman.simple_kalman import KF1D
import selfdrive.messaging as messaging
from cereal import car
@@ -95,9 +94,7 @@ class Planner(object):
self.longitudinalPlanSource = 'cruise'
self.fcw_checker = FCWChecker()
self.fcw_enabled = fcw_enabled
-
- self.model_v_kf = KF1D([[0.0],[0.0]], _MODEL_V_A, _MODEL_V_C, _MODEL_V_K)
- self.model_v_kf_ready = False
+ self.path_x = np.arange(192)
self.params = Params()
@@ -112,7 +109,6 @@ class Planner(object):
slowest = min(solutions, key=solutions.get)
self.longitudinalPlanSource = slowest
-
# Choose lowest of MPC and cruise
if slowest == 'mpc1':
self.v_acc = self.mpc1.v_mpc
@@ -145,15 +141,21 @@ class Planner(object):
enabled = (long_control_state == LongCtrlState.pid) or (long_control_state == LongCtrlState.stopping)
following = lead_1.status and lead_1.dRel < 45.0 and lead_1.vLeadK > v_ego and lead_1.aLeadK > 0.0
- if not self.model_v_kf_ready:
- self.model_v_kf.x = [[v_ego],[0.0]]
- self.model_v_kf_ready = True
+ if len(sm['model'].path.poly):
+ path = list(sm['model'].path.poly)
- if len(sm['model'].speed):
- self.model_v_kf.update(sm['model'].speed[SPEED_PERCENTILE_IDX])
+ # Curvature of polynomial https://en.wikipedia.org/wiki/Curvature#Curvature_of_the_graph_of_a_function
+ # y = a x^3 + b x^2 + c x + d, y' = 3 a x^2 + 2 b x + c, y'' = 6 a x + 2 b
+ # k = y'' / (1 + y'^2)^1.5
+ y_p = 3 * path[0] * self.path_x**2 + 2 * path[1] * self.path_x + path[2]
+ y_pp = 6 * path[0] * self.path_x + 2 * path[1]
+ curv = y_pp / (1. + y_p**2)**1.5
- if self.params.get("LimitSetSpeedNeural") == "1":
- model_speed = self.model_v_kf.x[0][0]
+ a_y_max = 2.975 - v_ego * 0.0375 # ~1.85 @ 75mph, ~2.6 @ 25mph
+ v_curvature = np.sqrt(a_y_max / np.clip(np.abs(curv), 1e-4, None))
+ model_speed = np.min(v_curvature)
+ # print(model_speed * CV.MS_TO_MPH, model_speed)
+ model_speed = max(20.0 * CV.MPH_TO_MS, model_speed) # Don't slow down below 20mph
else:
model_speed = MAX_SPEED
@@ -174,11 +176,9 @@ class Planner(object):
jerk_limits[1], jerk_limits[0],
LON_MPC_STEP)
- # accel and jerk up limits are higher here to make model not limiting accel
- # mainly done to prevent flickering of slowdown icon
self.v_model, self.a_model = speed_smoother(self.v_acc_start, self.a_acc_start,
model_speed,
- 2*accel_limits[1], 3*accel_limits[0],
+ 2*accel_limits[1], accel_limits[0],
2*jerk_limits[1], jerk_limits[0],
LON_MPC_STEP)
@@ -234,13 +234,13 @@ class Planner(object):
plan_send.plan.radarStateMonoTime = sm.logMonoTime['radarState']
# longitudal plan
- plan_send.plan.vCruise = self.v_cruise
- plan_send.plan.aCruise = self.a_cruise
- plan_send.plan.vStart = self.v_acc_start
- plan_send.plan.aStart = self.a_acc_start
- plan_send.plan.vTarget = self.v_acc
- plan_send.plan.aTarget = self.a_acc
- plan_send.plan.vTargetFuture = self.v_acc_future
+ plan_send.plan.vCruise = float(self.v_cruise)
+ plan_send.plan.aCruise = float(self.a_cruise)
+ plan_send.plan.vStart = float(self.v_acc_start)
+ plan_send.plan.aStart = float(self.a_acc_start)
+ plan_send.plan.vTarget = float(self.v_acc)
+ plan_send.plan.aTarget = float(self.a_acc)
+ plan_send.plan.vTargetFuture = float(self.v_acc_future)
plan_send.plan.hasLead = self.mpc1.prev_lead_status
plan_send.plan.longitudinalPlanSource = self.longitudinalPlanSource
diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py
index 6b3d768c7..02a38ca2a 100644
--- a/selfdrive/controls/lib/radar_helpers.py
+++ b/selfdrive/controls/lib/radar_helpers.py
@@ -25,14 +25,9 @@ _VLEAD_K = [[0.1988689], [0.28555364]]
class Track(object):
def __init__(self):
self.ekf = None
- self.initted = False
+ self.cnt = 0
def update(self, d_rel, y_rel, v_rel, v_ego_t_aligned, measured):
- if self.initted:
- # pylint: disable=access-member-before-definition
- self.vLeadPrev = self.vLead
- self.vRelPrev = self.vRel
-
# relative values, copy
self.dRel = d_rel # LONG_DIST
self.yRel = y_rel # -LAT_DIST
@@ -42,17 +37,12 @@ class Track(object):
# computed velocity and accelerations
self.vLead = self.vRel + v_ego_t_aligned
- if not self.initted:
- self.initted = True
- self.aLeadTau = _LEAD_ACCEL_TAU
- self.cnt = 1
- self.vision_cnt = 0
- self.vision = False
+ if self.cnt == 0:
self.kf = KF1D([[self.vLead], [0.0]], _VLEAD_A, _VLEAD_C, _VLEAD_K)
else:
self.kf.update(self.vLead)
- self.cnt += 1
+ self.cnt += 1
self.vLeadK = float(self.kf.x[SPEED][0])
self.aLeadK = float(self.kf.x[ACCEL][0])
@@ -67,6 +57,10 @@ class Track(object):
# Weigh y higher since radar is inaccurate in this dimension
return [self.dRel, self.yRel*2, self.vRel]
+ def reset_a_lead(self, aLeadK, aLeadTau):
+ self.kf = KF1D([[self.vLead], [aLeadK]], _VLEAD_A, _VLEAD_C, _VLEAD_K)
+ self.aLeadK = aLeadK
+ self.aLeadTau = aLeadTau
def mean(l):
return sum(l) / len(l)
@@ -115,11 +109,17 @@ class Cluster(object):
@property
def aLeadK(self):
- return mean([t.aLeadK for t in self.tracks])
+ if all(t.cnt <= 1 for t in self.tracks):
+ return 0.
+ else:
+ return mean([t.aLeadK for t in self.tracks if t.cnt > 1])
@property
def aLeadTau(self):
- return mean([t.aLeadTau for t in self.tracks])
+ if all(t.cnt <= 1 for t in self.tracks):
+ return _LEAD_ACCEL_TAU
+ else:
+ return mean([t.aLeadTau for t in self.tracks if t.cnt > 1])
@property
def measured(self):
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 77e9febbc..84410fa8e 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -143,15 +143,24 @@ class RadarD(object):
clusters[cluster_i] = Cluster()
clusters[cluster_i].add(self.tracks[idens[idx]])
elif len(track_pts) == 1:
+ # FIXME: cluster_point_centroid hangs forever if len(track_pts) == 1
+ cluster_idxs = [0]
clusters = [Cluster()]
clusters[0].add(self.tracks[idens[0]])
else:
clusters = []
+ # if a new point, reset accel to the rest of the cluster
+ for idx in xrange(len(track_pts)):
+ if self.tracks[idens[idx]].cnt <= 1:
+ aLeadK = clusters[cluster_idxs[idx]].aLeadK
+ aLeadTau = clusters[cluster_idxs[idx]].aLeadTau
+ self.tracks[idens[idx]].reset_a_lead(aLeadK, aLeadTau)
+
# *** publish radarState ***
dat = messaging.new_message()
dat.init('radarState')
- dat.valid = sm.all_alive_and_valid(service_list=['controlsState'])
+ dat.valid = sm.all_alive_and_valid(service_list=['controlsState', 'model'])
dat.radarState.mdMonoTime = self.last_md_ts
dat.radarState.canMonoTimes = list(rr.canMonoTimes)
dat.radarState.radarErrors = list(rr.errors)
diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py
index 77b37bb74..4bd657134 100644
--- a/selfdrive/controls/tests/test_lateral_mpc.py
+++ b/selfdrive/controls/tests/test_lateral_mpc.py
@@ -1,9 +1,9 @@
import unittest
-import copy
import numpy as np
from selfdrive.car.honda.interface import CarInterface
from selfdrive.controls.lib.lateral_mpc import libmpc_py
from selfdrive.controls.lib.vehicle_model import VehicleModel
+from selfdrive.controls.lib.lane_planner import calc_d_poly
def run_mpc(v_ref=30., x_init=0., y_init=0., psi_init=0., delta_init=0.,
@@ -16,13 +16,17 @@ def run_mpc(v_ref=30., x_init=0., y_init=0., psi_init=0., delta_init=0.,
mpc_solution = libmpc_py.ffi.new("log_t *")
- p_l = copy.copy(poly_l)
+ p_l = poly_l.copy()
p_l[3] += poly_shift
- p_r = copy.copy(poly_r)
+
+ p_r = poly_r.copy()
p_r[3] += poly_shift
- p_p = copy.copy(poly_p)
+
+ p_p = poly_p.copy()
p_p[3] += poly_shift
+ d_poly = calc_d_poly(p_l, p_r, p_p, l_prob, r_prob, lane_width)
+
CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING", {})
VM = VehicleModel(CP)
@@ -31,7 +35,7 @@ def run_mpc(v_ref=30., x_init=0., y_init=0., psi_init=0., delta_init=0.,
l_poly = libmpc_py.ffi.new("double[4]", map(float, p_l))
r_poly = libmpc_py.ffi.new("double[4]", map(float, p_r))
- p_poly = libmpc_py.ffi.new("double[4]", map(float, p_p))
+ d_poly = libmpc_py.ffi.new("double[4]", map(float, d_poly))
cur_state = libmpc_py.ffi.new("state_t *")
cur_state[0].x = x_init
@@ -41,7 +45,7 @@ def run_mpc(v_ref=30., x_init=0., y_init=0., psi_init=0., delta_init=0.,
# converge in no more than 20 iterations
for _ in range(20):
- libmpc.run_mpc(cur_state, mpc_solution, l_poly, r_poly, p_poly, l_prob, r_prob, p_prob,
+ libmpc.run_mpc(cur_state, mpc_solution, l_poly, r_poly, d_poly, l_prob, r_prob,
curvature_factor, v_ref, lane_width)
return mpc_solution
@@ -119,3 +123,7 @@ class TestLateralMpc(unittest.TestCase):
sol = run_mpc(y_init=y_init)
for y in list(sol[0].y):
self.assertGreaterEqual(y_init, abs(y))
+
+
+if __name__ == "__main__":
+ unittest.main()
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index e3a0b10ad..2890b0f61 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -8,7 +8,7 @@ from selfdrive.locationd.calibration_helpers import Calibration
from selfdrive.swaglog import cloudlog
from selfdrive.services import service_list
from common.params import Params
-from common.transformations.model import model_height, get_camera_frame_from_model_frame, get_camera_frame_from_medmodel_frame
+from common.transformations.model import model_height
from common.transformations.camera import view_frame_from_device_frame, get_view_frame_from_road_frame, \
eon_intrinsics, get_calib_from_vp, H, W
@@ -78,21 +78,19 @@ class Calibrator(object):
"valid_points": len(self.vps)}
self.params.put("CalibrationParams", json.dumps(cal_params))
return new_vp
+ else:
+ return None
def send_data(self, livecalibration):
calib = get_calib_from_vp(self.vp)
extrinsic_matrix = get_view_frame_from_road_frame(0, calib[1], calib[2], model_height)
- ke = eon_intrinsics.dot(extrinsic_matrix)
- warp_matrix = get_camera_frame_from_model_frame(ke)
- warp_matrix_big = get_camera_frame_from_medmodel_frame(ke)
cal_send = messaging.new_message()
cal_send.init('liveCalibration')
cal_send.liveCalibration.calStatus = self.cal_status
cal_send.liveCalibration.calPerc = min(len(self.vps) * 100 // INPUTS_NEEDED, 100)
- cal_send.liveCalibration.warpMatrix2 = [float(x) for x in warp_matrix.flatten()]
- cal_send.liveCalibration.warpMatrixBig = [float(x) for x in warp_matrix_big.flatten()]
cal_send.liveCalibration.extrinsicMatrix = [float(x) for x in extrinsic_matrix.flatten()]
+ cal_send.liveCalibration.rpyCalib = [float(x) for x in calib]
livecalibration.send(cal_send.to_bytes())
diff --git a/selfdrive/locationd/locationd_yawrate.cc b/selfdrive/locationd/locationd_yawrate.cc
index df2c72489..93e706499 100644
--- a/selfdrive/locationd/locationd_yawrate.cc
+++ b/selfdrive/locationd/locationd_yawrate.cc
@@ -12,9 +12,11 @@
void Localizer::update_state(const Eigen::Matrix &C, const double R, double current_time, double meas) {
double dt = current_time - prev_update_time;
- prev_update_time = current_time;
- if (dt < 1.0e-9) {
- return;
+
+ if (dt < 0) {
+ dt = 0;
+ } else {
+ prev_update_time = current_time;
}
// x = A * x;
@@ -73,6 +75,7 @@ Localizer::Localizer() {
void Localizer::handle_log(cereal::Event::Reader event) {
double current_time = event.getLogMonoTime() / 1.0e9;
+ // Initialize update_time on first update
if (prev_update_time < 0) {
prev_update_time = current_time;
}
@@ -117,6 +120,16 @@ extern "C" {
Localizer * loc = (Localizer*) localizer;
return loc->x[1];
}
+
+ void localizer_set_yaw(void * localizer, double yaw) {
+ Localizer * loc = (Localizer*) localizer;
+ loc->x[0] = yaw;
+ }
+ void localizer_set_bias(void * localizer, double bias) {
+ Localizer * loc = (Localizer*) localizer;
+ loc->x[1] = bias;
+ }
+
double localizer_get_t(void * localizer) {
Localizer * loc = (Localizer*) localizer;
return loc->prev_update_time;
diff --git a/selfdrive/locationd/paramsd.cc b/selfdrive/locationd/paramsd.cc
index 1766db311..2d9f11b3e 100644
--- a/selfdrive/locationd/paramsd.cc
+++ b/selfdrive/locationd/paramsd.cc
@@ -31,9 +31,9 @@ int main(int argc, char *argv[]) {
zmq_pollitem_t polls[num_polls] = {{0}};
polls[0].socket = controls_state_sock;
polls[0].events = ZMQ_POLLIN;
- polls[1].socket = sensor_events_sock;
+ polls[1].socket = camera_odometry_sock;
polls[1].events = ZMQ_POLLIN;
- polls[2].socket = camera_odometry_sock;
+ polls[2].socket = sensor_events_sock;
polls[2].events = ZMQ_POLLIN;
// Read car params
@@ -122,8 +122,9 @@ int main(int argc, char *argv[]) {
localizer.handle_log(event);
auto which = event.which();
+ // Throw vision failure if posenet and odometric speed too different
if (which == cereal::Event::CAMERA_ODOMETRY){
- if (std::abs(localizer.posenet_speed - localizer.car_speed) > std::max(0.5 * localizer.car_speed, 5.0)) {
+ if (std::abs(localizer.posenet_speed - localizer.car_speed) > std::max(0.4 * localizer.car_speed, 5.0)) {
posenet_invalid_count++;
} else {
posenet_invalid_count = 0;
@@ -155,7 +156,7 @@ int main(int argc, char *argv[]) {
live_params.setStiffnessFactor(learner.x);
live_params.setSteerRatio(learner.sR);
live_params.setPosenetSpeed(localizer.posenet_speed);
- live_params.setPosenetValid(posenet_invalid_count < 5);
+ live_params.setPosenetValid(posenet_invalid_count < 4);
auto words = capnp::messageToFlatArray(msg);
auto bytes = words.asBytes();
diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py
index 0bd2ff18f..59765d13e 100644
--- a/selfdrive/loggerd/uploader.py
+++ b/selfdrive/loggerd/uploader.py
@@ -17,7 +17,7 @@ from selfdrive.swaglog import cloudlog
from selfdrive.loggerd.config import ROOT
from common.params import Params
-from common.api import api_get
+from common.api import Api
fake_upload = os.getenv("FAKEUPLOAD") is not None
@@ -93,9 +93,9 @@ def is_on_hotspot():
return False
class Uploader(object):
- def __init__(self, dongle_id, access_token, root):
+ def __init__(self, dongle_id, private_key, root):
self.dongle_id = dongle_id
- self.access_token = access_token
+ self.api = Api(dongle_id, private_key)
self.root = root
self.upload_thread = None
@@ -168,11 +168,11 @@ class Uploader(object):
def do_upload(self, key, fn):
try:
- url_resp = api_get("v1.2/"+self.dongle_id+"/upload_url/", timeout=10, path=key, access_token=self.access_token)
+ url_resp = self.api.get("v1.3/"+self.dongle_id+"/upload_url/", timeout=10, path=key, access_token=self.api.get_token())
url_resp_json = json.loads(url_resp.text)
url = url_resp_json['url']
headers = url_resp_json['headers']
- cloudlog.info("upload_url v1.2 %s %s", url, str(headers))
+ cloudlog.info("upload_url v1.3 %s %s", url, str(headers))
if fake_upload:
cloudlog.info("*** WARNING, THIS IS A FAKE UPLOAD TO %s ***" % url)
@@ -240,13 +240,14 @@ def uploader_fn(exit_event):
cloudlog.info("uploader_fn")
params = Params()
- dongle_id, access_token = params.get("DongleId"), params.get("AccessToken")
+ dongle_id = params.get("DongleId")
+ private_key = open("/persist/comma/id_rsa").read()
- if dongle_id is None or access_token is None:
- cloudlog.info("uploader MISSING DONGLE_ID or ACCESS_TOKEN")
- raise Exception("uploader can't start without dongle id and access token")
+ if dongle_id is None or private_key is None:
+ cloudlog.info("uploader missing dongle_id or private_key")
+ raise Exception("uploader can't start without dongle id and private key")
- uploader = Uploader(dongle_id, access_token, ROOT)
+ uploader = Uploader(dongle_id, private_key, ROOT)
backoff = 0.1
while True:
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index b902e6170..b70a58ca6 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -49,7 +49,7 @@ if __name__ == "__main__":
if is_neos:
version = int(open("/VERSION").read()) if os.path.isfile("/VERSION") else 0
revision = int(open("/REVISION").read()) if version >= 10 else 0 # Revision only present in NEOS 10 and up
- neos_update_required = version < 10 or (version == 10 and revision != 3)
+ neos_update_required = version < 10 or (version == 10 and revision != 4)
if neos_update_required:
# update continue.sh before updating NEOS
@@ -524,6 +524,9 @@ def main():
# the flippening!
os.system('LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1')
+ # disable bluetooth
+ os.system('service call bluetooth_manager 8')
+
if os.getenv("NOLOG") is not None:
del managed_processes['loggerd']
del managed_processes['tombstoned']
diff --git a/selfdrive/registration.py b/selfdrive/registration.py
index f8a084bd3..5d45b1129 100644
--- a/selfdrive/registration.py
+++ b/selfdrive/registration.py
@@ -71,6 +71,10 @@ def register():
os.rename("/persist/comma/id_rsa.tmp", "/persist/comma/id_rsa")
os.rename("/persist/comma/id_rsa.tmp.pub", "/persist/comma/id_rsa.pub")
+ # make key readable by app users (ai.comma.plus.offroad)
+ os.chmod('/persist/comma/', 0o755)
+ os.chmod('/persist/comma/id_rsa', 0o744)
+
dongle_id, access_token = params.get("DongleId"), params.get("AccessToken")
public_key = open("/persist/comma/id_rsa.pub").read()
diff --git a/selfdrive/test/openpilotci_upload.py b/selfdrive/test/openpilotci_upload.py
new file mode 100755
index 000000000..85509851d
--- /dev/null
+++ b/selfdrive/test/openpilotci_upload.py
@@ -0,0 +1,22 @@
+#!/usr/bin/env python2
+import os
+import sys
+import subprocess
+from azure.storage.blob import BlockBlobService
+
+def upload_file(path, name):
+ sas_token = os.getenv("TOKEN", None)
+ if sas_token is not None:
+ service = BlockBlobService(account_name="commadataci", sas_token=sas_token)
+ else:
+ account_key = subprocess.check_output("az storage account keys list --account-name commadataci --output tsv --query '[0].value'", shell=True)
+ service = BlockBlobService(account_name="commadataci", account_key=account_key)
+ service.create_blob_from_path("openpilotci", name, path)
+ return "https://commadataci.blob.core.windows.net/openpilotci/" + name
+
+if __name__ == "__main__":
+ for f in sys.argv[1:]:
+ name = os.path.basename(f)
+ url = upload_file(f, name)
+ print url
+
diff --git a/selfdrive/test/plant/plant.py b/selfdrive/test/plant/plant.py
index 3cd0d6b16..531ad8ad2 100755
--- a/selfdrive/test/plant/plant.py
+++ b/selfdrive/test/plant/plant.py
@@ -1,6 +1,7 @@
#!/usr/bin/env python
import os
import struct
+import time
from collections import namedtuple
import numpy as np
@@ -133,6 +134,11 @@ class Plant(object):
self.ts = 1./rate
self.cp = get_car_can_parser()
+ self.response_seen = False
+
+ time.sleep(1)
+ messaging.drain_sock(Plant.sendcan)
+ messaging.drain_sock(Plant.controls_state)
def close(self):
Plant.logcan.close()
@@ -158,13 +164,18 @@ class Plant(object):
# ******** get messages sent to the car ********
can_msgs = []
- for a in messaging.drain_sock(Plant.sendcan):
+ for a in messaging.drain_sock(Plant.sendcan, wait_for_one=self.response_seen):
can_msgs.extend(can_capnp_to_can_list(a.sendcan, [0,2]))
+
+ # After the first response the car is done fingerprinting, so we can run in lockstep with controlsd
+ if can_msgs:
+ self.response_seen = True
+
self.cp.update_can(can_msgs)
# ******** get controlsState messages for plotting ***
controls_state_msgs = []
- for a in messaging.drain_sock(Plant.controls_state):
+ for a in messaging.drain_sock(Plant.controls_state, wait_for_one=self.response_seen):
controls_state_msgs.append(a.controlsState)
fcw = None
@@ -217,7 +228,7 @@ class Plant(object):
vls_tuple = namedtuple('vls', [
'XMISSION_SPEED',
'WHEEL_SPEED_FL', 'WHEEL_SPEED_FR', 'WHEEL_SPEED_RL', 'WHEEL_SPEED_RR',
- 'STEER_ANGLE', 'STEER_ANGLE_RATE', 'STEER_TORQUE_SENSOR',
+ 'STEER_ANGLE', 'STEER_ANGLE_RATE', 'STEER_TORQUE_SENSOR', 'STEER_TORQUE_MOTOR',
'LEFT_BLINKER', 'RIGHT_BLINKER',
'GEAR',
'WHEELS_MOVING',
@@ -250,7 +261,7 @@ class Plant(object):
vls = vls_tuple(
self.speed_sensor(speed),
self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed),
- self.angle_steer, self.angle_steer_rate, 0, #Steer torque sensor
+ self.angle_steer, self.angle_steer_rate, 0, 0,#Steer torque sensor
0, 0, # Blinkers
self.gear_choice,
speed != 0,
@@ -325,7 +336,6 @@ class Plant(object):
msg_data = fix(msg_data, 0xe4)
can_msgs.append([0xe4, 0, msg_data, 2])
- Plant.logcan.send(can_list_to_can_capnp(can_msgs))
# Fake sockets that controlsd subscribes to
live_parameters = messaging.new_message()
@@ -388,10 +398,13 @@ class Plant(object):
cal.liveCalibration.calStatus = 1
cal.liveCalibration.calPerc = 100
+ cal.liveCalibration.rpyCalib = [0.] * 3
# fake values?
Plant.model.send(md.to_bytes())
Plant.cal.send(cal.to_bytes())
+ Plant.logcan.send(can_list_to_can_capnp(can_msgs))
+
# ******** update prevs ********
self.speed = speed
self.distance = distance
@@ -401,7 +414,11 @@ class Plant(object):
self.distance_prev = distance
self.distance_lead_prev = distance_lead
- self.rk.keep_time()
+ if self.response_seen:
+ self.rk.monitor_time()
+ else:
+ self.rk.keep_time()
+
return {
"distance": distance,
"speed": speed,
diff --git a/selfdrive/test/test_car_models_openpilot.py b/selfdrive/test/test_car_models_openpilot.py
new file mode 100755
index 000000000..53184653c
--- /dev/null
+++ b/selfdrive/test/test_car_models_openpilot.py
@@ -0,0 +1,494 @@
+#!/usr/bin/env python2
+import shutil
+import time
+import zmq
+import os
+import sys
+import signal
+import subprocess
+import requests
+from cereal import car
+
+import selfdrive.manager as manager
+from selfdrive.services import service_list
+import selfdrive.messaging as messaging
+from common.params import Params
+from common.basedir import BASEDIR
+from selfdrive.car.honda.values import CAR as HONDA
+from selfdrive.car.toyota.values import CAR as TOYOTA
+from selfdrive.car.gm.values import CAR as GM
+from selfdrive.car.ford.values import CAR as FORD
+from selfdrive.car.hyundai.values import CAR as HYUNDAI
+from selfdrive.car.chrysler.values import CAR as CHRYSLER
+from selfdrive.car.subaru.values import CAR as SUBARU
+from selfdrive.car.mock.values import CAR as MOCK
+
+
+os.environ['NOCRASH'] = '1'
+
+
+def wait_for_socket(name, timeout=10.0):
+ socket = messaging.sub_sock(service_list[name].port)
+ cur_time = time.time()
+
+ r = None
+ while time.time() - cur_time < timeout:
+ print("waiting for %s" % name)
+ try:
+ r = socket.recv(zmq.NOBLOCK)
+ break
+ except zmq.error.Again:
+ pass
+ time.sleep(0.5)
+ return r
+
+def get_route_logs(route_name):
+ for log_f in ["rlog.bz2", "fcamera.hevc"]:
+ log_path = os.path.join("/tmp", "%s--0--%s" % (route_name.replace("|", "_"), log_f))
+
+ if not os.path.isfile(log_path):
+ log_url = "https://commadataci.blob.core.windows.net/openpilotci/%s/0/%s" % (route_name.replace("|", "/"), log_f)
+ r = requests.get(log_url)
+
+ if r.status_code == 200:
+ with open(log_path, "w") as f:
+ f.write(r.content)
+ else:
+ sys.exit(-1)
+
+routes = {
+
+ "975b26878285314d|2018-12-25--14-42-13": {
+ 'carFingerprint': CHRYSLER.PACIFICA_2018_HYBRID,
+ 'enableCamera': True,
+ },
+ "b0c9d2329ad1606b|2019-01-06--10-11-23": {
+ 'carFingerprint': CHRYSLER.PACIFICA_2017_HYBRID,
+ 'enableCamera': True,
+ },
+ "0607d2516fc2148f|2019-02-13--23-03-16": {
+ 'carFingerprint': CHRYSLER.PACIFICA_2019_HYBRID,
+ 'enableCamera': True,
+ },
+ # This pacifica was removed because the fingerprint seemed from a Volt
+ #"9f7a7e50a51fb9db|2019-01-03--14-05-01": {
+ # 'carFingerprint': CHRYSLER.PACIFICA_2018,
+ # 'enableCamera': True,
+ #},
+ "9f7a7e50a51fb9db|2019-01-17--18-34-21": {
+ 'carFingerprint': CHRYSLER.JEEP_CHEROKEE,
+ 'enableCamera': True,
+ },
+ "192a598e34926b1e|2019-04-04--13-27-39": {
+ 'carFingerprint': CHRYSLER.JEEP_CHEROKEE_2019,
+ 'enableCamera': True,
+ },
+ "f1b4c567731f4a1b|2018-04-18--11-29-37": {
+ 'carFingerprint': FORD.FUSION,
+ 'enableCamera': False,
+ },
+ "f1b4c567731f4a1b|2018-04-30--10-15-35": {
+ 'carFingerprint': FORD.FUSION,
+ 'enableCamera': True,
+ },
+ "7ed9cdf8d0c5f43e|2018-05-17--09-31-36": {
+ 'carFingerprint': GM.CADILLAC_CT6,
+ 'enableCamera': True,
+ },
+ "265007255e794bce|2018-11-24--22-08-31": {
+ 'carFingerprint': GM.CADILLAC_ATS,
+ 'enableCamera': True,
+ },
+ "c950e28c26b5b168|2018-05-30--22-03-41": {
+ 'carFingerprint': GM.VOLT,
+ 'enableCamera': True,
+ },
+ # TODO: use another route that has radar data at start
+ "aadda448b49c99ad|2018-10-25--17-16-22": {
+ 'carFingerprint': GM.MALIBU,
+ 'enableCamera': True,
+ },
+ "49c73650e65ff465|2018-11-19--16-58-04": {
+ 'carFingerprint': GM.HOLDEN_ASTRA,
+ 'enableCamera': True,
+ },
+ "7cc2a8365b4dd8a9|2018-12-02--12-10-44": {
+ 'carFingerprint': GM.ACADIA,
+ 'enableCamera': True,
+ },
+ "aa20e335f61ba898|2018-12-17--21-10-37": {
+ 'carFingerprint': GM.BUICK_REGAL,
+ 'enableCamera': False,
+ },
+ "aa20e335f61ba898|2019-02-05--16-59-04": {
+ 'carFingerprint': GM.BUICK_REGAL,
+ 'enableCamera': True,
+ },
+ "7d44af5b7a1b2c8e|2017-09-16--01-50-07": {
+ 'carFingerprint': HONDA.CIVIC,
+ 'enableCamera': True,
+ },
+ "c9d60e5e02c04c5c|2018-01-08--16-01-49": {
+ 'carFingerprint': HONDA.CRV,
+ 'enableCamera': True,
+ },
+ "1851183c395ef471|2018-05-31--18-07-21": {
+ 'carFingerprint': HONDA.CRV_5G,
+ 'enableCamera': True,
+ },
+ "232585b7784c1af4|2019-04-08--14-12-14": {
+ 'carFingerprint': HONDA.CRV_HYBRID,
+ 'enableCamera': True,
+ },
+ "2ac95059f70d76eb|2018-02-05--15-03-29": {
+ 'carFingerprint': HONDA.ACURA_ILX,
+ 'enableCamera': True,
+ },
+ "21aa231dee2a68bd|2018-01-30--04-54-41": {
+ 'carFingerprint': HONDA.ODYSSEY,
+ 'enableCamera': True,
+ },
+ "81722949a62ea724|2019-03-29--15-51-26": {
+ 'carFingerprint': HONDA.ODYSSEY_CHN,
+ 'enableCamera': False,
+ },
+ "81722949a62ea724|2019-04-06--15-19-25": {
+ 'carFingerprint': HONDA.ODYSSEY_CHN,
+ 'enableCamera': True,
+ },
+ "5a2cfe4bb362af9e|2018-02-02--23-41-07": {
+ 'carFingerprint': HONDA.ACURA_RDX,
+ 'enableCamera': True,
+ },
+ "3e9592a1c78a3d63|2018-02-08--20-28-24": {
+ 'carFingerprint': HONDA.PILOT,
+ 'enableCamera': True,
+ },
+ "34a84d2b765df688|2018-08-28--12-41-00": {
+ 'carFingerprint': HONDA.PILOT_2019,
+ 'enableCamera': True,
+ },
+ "900ad17e536c3dc7|2018-04-12--22-02-36": {
+ 'carFingerprint': HONDA.RIDGELINE,
+ 'enableCamera': True,
+ },
+ "f1b4c567731f4a1b|2018-06-06--14-43-46": {
+ 'carFingerprint': HONDA.ACCORD,
+ 'enableCamera': True,
+ },
+ "1582e1dc57175194|2018-08-15--07-46-07": {
+ 'carFingerprint': HONDA.ACCORD_15,
+ 'enableCamera': True,
+ },
+ # TODO: This doesnt fingerprint because the fingerprint overlaps with the Insight
+ # "690c4c9f9f2354c7|2018-09-15--17-36-05": {
+ # 'carFingerprint': HONDA.ACCORDH,
+ # 'enableCamera': True,
+ # },
+ "1632088eda5e6c4d|2018-06-07--08-03-18": {
+ 'carFingerprint': HONDA.CIVIC_BOSCH,
+ 'enableCamera': True,
+ },
+ #"18971a99f3f2b385|2018-11-14--19-09-31": {
+ # 'carFingerprint': HONDA.INSIGHT,
+ # 'enableCamera': True,
+ #},
+ "38bfd238edecbcd7|2018-08-22--09-45-44": {
+ 'carFingerprint': HYUNDAI.SANTA_FE,
+ 'enableCamera': False,
+ },
+ "38bfd238edecbcd7|2018-08-29--22-02-15": {
+ 'carFingerprint': HYUNDAI.SANTA_FE,
+ 'enableCamera': True,
+ },
+ "a893a80e5c5f72c8|2019-01-14--20-02-59": {
+ 'carFingerprint': HYUNDAI.GENESIS,
+ 'enableCamera': True,
+ },
+ "9d5fb4f0baa1b3e1|2019-01-14--17-45-59": {
+ 'carFingerprint': HYUNDAI.KIA_SORENTO,
+ 'enableCamera': True,
+ },
+ "215cd70e9c349266|2018-11-25--22-22-12": {
+ 'carFingerprint': HYUNDAI.KIA_STINGER,
+ 'enableCamera': True,
+ },
+ "31390e3eb6f7c29a|2019-01-23--08-56-00": {
+ 'carFingerprint': HYUNDAI.KIA_OPTIMA,
+ 'enableCamera': True,
+ },
+ "53ac3251e03f95d7|2019-01-10--13-43-32": {
+ 'carFingerprint': HYUNDAI.ELANTRA,
+ 'enableCamera': True,
+ },
+ "f7b6be73e3dfd36c|2019-05-12--18-07-16": {
+ 'carFingerprint': TOYOTA.AVALON,
+ 'enableCamera': False,
+ 'enableDsu': False,
+ },
+ "f7b6be73e3dfd36c|2019-05-11--22-34-20": {
+ 'carFingerprint': TOYOTA.AVALON,
+ 'enableCamera': True,
+ 'enableDsu': False,
+ },
+ "b0f5a01cf604185c|2018-01-26--00-54-32": {
+ 'carFingerprint': TOYOTA.COROLLA,
+ 'enableCamera': True,
+ 'enableDsu': True,
+ },
+ "b0f5a01cf604185c|2018-01-26--10-54-38": {
+ 'carFingerprint': TOYOTA.COROLLA,
+ 'enableCamera': True,
+ 'enableDsu': False,
+ },
+ "b0f5a01cf604185c|2018-01-26--10-59-31": {
+ 'carFingerprint': TOYOTA.COROLLA,
+ 'enableCamera': False,
+ 'enableDsu': False,
+ },
+ "5f5afb36036506e4|2019-05-14--02-09-54": {
+ 'carFingerprint': TOYOTA.COROLLA_TSS2,
+ 'enableCamera': True,
+ 'enableDsu': True,
+ },
+ "56fb1c86a9a86404|2017-11-10--10-18-43": {
+ 'carFingerprint': TOYOTA.PRIUS,
+ 'enableCamera': True,
+ 'enableDsu': True,
+ },
+ "b0f5a01cf604185c|2017-12-18--20-32-32": {
+ 'carFingerprint': TOYOTA.RAV4,
+ 'enableCamera': True,
+ 'enableDsu': True,
+ 'enableGasInterceptor': False,
+ },
+ "b0c9d2329ad1606b|2019-04-02--13-24-43": {
+ 'carFingerprint': TOYOTA.RAV4,
+ 'enableCamera': True,
+ 'enableDsu': True,
+ 'enableGasInterceptor': True,
+ },
+ "cdf2f7de565d40ae|2019-04-25--03-53-41": {
+ 'carFingerprint': TOYOTA.RAV4_TSS2,
+ 'enableCamera': True,
+ 'enableDsu': True,
+ },
+ "f49e8041283f2939|2019-05-29--13-48-33": {
+ 'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
+ 'enableCamera': False,
+ 'enableDsu': False,
+ },
+ "f49e8041283f2939|2019-05-30--11-51-51": {
+ 'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
+ 'enableCamera': True,
+ 'enableDsu': True,
+ },
+ "b0f5a01cf604185c|2018-02-01--21-12-28": {
+ 'carFingerprint': TOYOTA.LEXUS_RXH,
+ 'enableCamera': True,
+ 'enableDsu': True,
+ },
+ #FIXME: This works sometimes locally, but never in CI. Timing issue?
+ #"b0f5a01cf604185c|2018-01-31--20-11-39": {
+ # 'carFingerprint': TOYOTA.LEXUS_RXH,
+ # 'enableCamera': False,
+ # 'enableDsu': False,
+ #},
+ "8ae193ceb56a0efe|2018-06-18--20-07-32": {
+ 'carFingerprint': TOYOTA.RAV4H,
+ 'enableCamera': True,
+ 'enableDsu': True,
+ },
+ "fd10b9a107bb2e49|2018-07-24--16-32-42": {
+ 'carFingerprint': TOYOTA.CHR,
+ 'enableCamera': True,
+ 'enableDsu': False,
+ },
+ "fd10b9a107bb2e49|2018-07-24--20-32-08": {
+ 'carFingerprint': TOYOTA.CHR,
+ 'enableCamera': False,
+ 'enableDsu': False,
+ },
+ "b4c18bf13d5955da|2018-07-29--13-39-46": {
+ 'carFingerprint': TOYOTA.CHRH,
+ 'enableCamera': True,
+ 'enableDsu': False,
+ },
+ "d2d8152227f7cb82|2018-07-25--13-40-56": {
+ 'carFingerprint': TOYOTA.CAMRY,
+ 'enableCamera': True,
+ 'enableDsu': False,
+ },
+ "fbd011384db5e669|2018-07-26--20-51-48": {
+ 'carFingerprint': TOYOTA.CAMRYH,
+ 'enableCamera': True,
+ 'enableDsu': False,
+ },
+ # TODO: This replay has no good model/video
+ # "c9fa2dd0f76caf23|2018-02-10--13-40-28": {
+ # 'carFingerprint': TOYOTA.CAMRYH,
+ # 'enableCamera': False,
+ # 'enableDsu': False,
+ # },
+ # TODO: missingsome combos for highlander
+ "aa659debdd1a7b54|2018-08-31--11-12-01": {
+ 'carFingerprint': TOYOTA.HIGHLANDER,
+ 'enableCamera': False,
+ 'enableDsu': False,
+ },
+ "362d23d4d5bea2fa|2018-09-02--17-03-55": {
+ 'carFingerprint': TOYOTA.HIGHLANDERH,
+ 'enableCamera': True,
+ 'enableDsu': True,
+ },
+ "eb6acd681135480d|2019-06-20--20-00-00": {
+ 'carFingerprint': TOYOTA.SIENNA,
+ 'enableCamera': True,
+ 'enableDsu': False,
+ },
+ "362d23d4d5bea2fa|2018-08-10--13-31-40": {
+ 'carFingerprint': TOYOTA.HIGHLANDERH,
+ 'enableCamera': False,
+ 'enableDsu': False,
+ },
+ "791340bc01ed993d|2019-03-10--16-28-08": {
+ 'carFingerprint': SUBARU.IMPREZA,
+ 'enableCamera': True,
+ },
+ # Tesla route, should result in mock car
+ "07cb8a788c31f645|2018-06-17--18-50-29": {
+ 'carFingerprint': MOCK.MOCK,
+ },
+ ## Route with no can data, should result in mock car. This is not supported anymore
+ #"bfa17080b080f3ec|2018-06-28--23-27-47": {
+ # 'carFingerprint': MOCK.MOCK,
+ #},
+}
+
+passive_routes = [
+ "07cb8a788c31f645|2018-06-17--18-50-29",
+ #"bfa17080b080f3ec|2018-06-28--23-27-47",
+]
+
+public_routes = [
+ "f1b4c567731f4a1b|2018-06-06--14-43-46",
+ "f1b4c567731f4a1b|2018-04-18--11-29-37",
+ "f1b4c567731f4a1b|2018-04-18--11-29-37",
+ "7ed9cdf8d0c5f43e|2018-05-17--09-31-36",
+ "38bfd238edecbcd7|2018-08-22--09-45-44",
+ "38bfd238edecbcd7|2018-08-29--22-02-15",
+ "b0f5a01cf604185c|2018-01-26--00-54-32",
+ "b0f5a01cf604185c|2018-01-26--10-54-38",
+ "b0f5a01cf604185c|2018-01-26--10-59-31",
+ "56fb1c86a9a86404|2017-11-10--10-18-43",
+ "b0f5a01cf604185c|2017-12-18--20-32-32",
+ "b0c9d2329ad1606b|2019-04-02--13-24-43",
+ "791340bc01ed993d|2019-03-10--16-28-08",
+]
+
+if __name__ == "__main__":
+
+ results = {}
+ for route, checks in routes.items():
+
+ if route not in public_routes:
+ print "route not public", route
+ continue
+
+ get_route_logs(route)
+
+ for _ in range(3):
+ shutil.rmtree('/data/params')
+ manager.gctx = {}
+ params = Params()
+ params.manager_start()
+ if route in passive_routes:
+ params.put("Passive", "1")
+ else:
+ params.put("Passive", "0")
+
+ print "testing ", route, " ", checks['carFingerprint']
+ print "Preparing processes"
+ manager.prepare_managed_process("radard")
+ manager.prepare_managed_process("controlsd")
+ manager.prepare_managed_process("plannerd")
+ print "Starting processes"
+ manager.start_managed_process("radard")
+ manager.start_managed_process("controlsd")
+ manager.start_managed_process("plannerd")
+ time.sleep(2)
+
+ # Start unlogger
+ print "Start unlogger"
+ unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), '%s' % route, '/tmp', '--disable', 'frame,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl', '--no-interactive']
+ unlogger = subprocess.Popen(unlogger_cmd, preexec_fn=os.setsid)
+
+ print "Check sockets"
+ controls_state_result = wait_for_socket('controlsState', timeout=30)
+ radarstate_result = wait_for_socket('radarState', timeout=30)
+ plan_result = wait_for_socket('plan', timeout=30)
+
+ if route not in passive_routes: # TODO The passive routes have very flaky models
+ path_plan_result = wait_for_socket('pathPlan', timeout=30)
+ else:
+ path_plan_result = True
+
+ carstate_result = wait_for_socket('carState', timeout=30)
+
+ print "Check if everything is running"
+ running = manager.get_running()
+ controlsd_running = running['controlsd'].is_alive()
+ radard_running = running['radard'].is_alive()
+ plannerd_running = running['plannerd'].is_alive()
+
+ manager.kill_managed_process("controlsd")
+ manager.kill_managed_process("radard")
+ manager.kill_managed_process("plannerd")
+ os.killpg(os.getpgid(unlogger.pid), signal.SIGTERM)
+
+ sockets_ok = all([
+ controls_state_result, radarstate_result, plan_result, path_plan_result, carstate_result,
+ controlsd_running, radard_running, plannerd_running
+ ])
+ params_ok = True
+ failures = []
+
+ if not controlsd_running:
+ failures.append('controlsd')
+ if not radard_running:
+ failures.append('radard')
+ if not radarstate_result:
+ failures.append('radarState')
+ if not controls_state_result:
+ failures.append('controlsState')
+ if not plan_result:
+ failures.append('plan')
+ if not path_plan_result:
+ failures.append('pathPlan')
+
+ try:
+ car_params = car.CarParams.from_bytes(params.get("CarParams"))
+ for k, v in checks.items():
+ if not v == getattr(car_params, k):
+ params_ok = False
+ failures.append(k)
+ except:
+ params_ok = False
+
+ if sockets_ok and params_ok:
+ print "Success"
+ results[route] = True, failures
+ break
+ else:
+ print "Failure"
+ results[route] = False, failures
+
+ time.sleep(2)
+
+ print results
+ params.put("Passive", "0") # put back not passive to not leave the params in an unintended state
+ if not all(passed for passed, _ in results.values()):
+ print "TEST FAILED"
+ sys.exit(1)
+ else:
+ print "TEST SUCESSFUL"
diff --git a/selfdrive/test/tests/__init__.py b/selfdrive/test/tests/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/selfdrive/test/tests/process_replay/.gitignore b/selfdrive/test/tests/process_replay/.gitignore
new file mode 100644
index 000000000..6d339d54f
--- /dev/null
+++ b/selfdrive/test/tests/process_replay/.gitignore
@@ -0,0 +1,2 @@
+*.bz2
+diff.txt
diff --git a/selfdrive/test/tests/process_replay/README.md b/selfdrive/test/tests/process_replay/README.md
new file mode 100644
index 000000000..639ca9051
--- /dev/null
+++ b/selfdrive/test/tests/process_replay/README.md
@@ -0,0 +1,15 @@
+# process replay
+
+Process replay is a regression test designed to identify any changes in the output of a process. This test replays a segment through individual processes and compares the output to a known good replay. Each make is represented in the test with a segment.
+
+If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated.
+
+Use `test_processes.py` to run the test locally.
+
+Currently the following processes are tested:
+
+* controlsd
+* radard
+* plannerd
+* calibrationd
+
diff --git a/selfdrive/test/tests/process_replay/__init__.py b/selfdrive/test/tests/process_replay/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/selfdrive/test/tests/process_replay/compare_logs.py b/selfdrive/test/tests/process_replay/compare_logs.py
new file mode 100755
index 000000000..260e06c77
--- /dev/null
+++ b/selfdrive/test/tests/process_replay/compare_logs.py
@@ -0,0 +1,45 @@
+#!/usr/bin/env python2
+import bz2
+import os
+import sys
+
+import dictdiffer
+if "CI" in os.environ:
+ tqdm = lambda x: x
+else:
+ from tqdm import tqdm
+
+from tools.lib.logreader import LogReader
+
+
+def save_log(dest, log_msgs):
+ dat = ""
+ for msg in log_msgs:
+ dat += msg.as_builder().to_bytes()
+ dat = bz2.compress(dat)
+
+ with open(dest, "w") as f:
+ f.write(dat)
+
+def compare_logs(log1, log2, ignore=[]):
+ assert len(log1) == len(log2), "logs are not same length"
+
+ diff = []
+ for msg1, msg2 in tqdm(zip(log1, log2)):
+ assert msg1.which() == msg2.which(), "msgs not aligned between logs"
+
+ msg1_bytes = msg1.as_builder().to_bytes()
+ msg2_bytes = msg2.as_builder().to_bytes()
+
+ if msg1_bytes != msg2_bytes:
+ msg1_dict = msg1.to_dict(verbose=True)
+ msg2_dict = msg2.to_dict(verbose=True)
+ dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore, tolerance=0)
+ diff.extend(dd)
+ return diff
+
+if __name__ == "__main__":
+ log1 = list(LogReader(sys.argv[1]))
+ log2 = list(LogReader(sys.argv[2]))
+
+ compare_logs(log1, log2, sys.argv[3:])
diff --git a/selfdrive/test/tests/process_replay/process_replay.py b/selfdrive/test/tests/process_replay/process_replay.py
new file mode 100755
index 000000000..66067b405
--- /dev/null
+++ b/selfdrive/test/tests/process_replay/process_replay.py
@@ -0,0 +1,185 @@
+#!/usr/bin/env python2
+import gc
+import os
+import time
+
+if "CI" in os.environ:
+ tqdm = lambda x: x
+else:
+ from tqdm import tqdm
+
+from cereal import car
+from selfdrive.car.car_helpers import get_car
+import selfdrive.manager as manager
+import selfdrive.messaging as messaging
+from common.params import Params
+from selfdrive.services import service_list
+from collections import namedtuple
+
+ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback'])
+
+def fingerprint(msgs, pub_socks, sub_socks):
+ print "start fingerprinting"
+ manager.prepare_managed_process("logmessaged")
+ manager.start_managed_process("logmessaged")
+
+ can = pub_socks["can"]
+ logMessage = messaging.sub_sock(service_list["logMessage"].port)
+
+ time.sleep(1)
+ messaging.drain_sock(logMessage)
+
+ # controlsd waits for a health packet before fingerprinting
+ msg = messaging.new_message()
+ msg.init("health")
+ pub_socks["health"].send(msg.to_bytes())
+
+ canmsgs = filter(lambda msg: msg.which() == "can", msgs)
+ for msg in canmsgs[:200]:
+ can.send(msg.as_builder().to_bytes())
+
+ time.sleep(0.005)
+ log = messaging.recv_one_or_none(logMessage)
+ if log is not None and "fingerprinted" in log.logMessage:
+ break
+ manager.kill_managed_process("logmessaged")
+ print "finished fingerprinting"
+
+def get_car_params(msgs, pub_socks, sub_socks):
+ sendcan = pub_socks.get("sendcan", None)
+ if sendcan is None:
+ sendcan = messaging.pub_sock(service_list["sendcan"].port)
+ logcan = sub_socks.get("can", None)
+ if logcan is None:
+ logcan = messaging.sub_sock(service_list["can"].port)
+ can = pub_socks.get("can", None)
+ if can is None:
+ can = messaging.pub_sock(service_list["can"].port)
+
+ time.sleep(0.5)
+
+ canmsgs = filter(lambda msg: msg.which() == "can", msgs)
+ for m in canmsgs[:200]:
+ can.send(m.as_builder().to_bytes())
+ _, CP = get_car(logcan, sendcan)
+ Params().put("CarParams", CP.to_bytes())
+ time.sleep(0.5)
+ messaging.drain_sock(logcan)
+
+def radar_rcv_callback(msg, CP):
+ if msg.which() != "can":
+ return []
+
+ # hyundai and subaru don't have radar
+ radar_msgs = {"honda": [0x445], "toyota": [0x19f, 0x22f], "gm": [0x475],
+ "hyundai": [], "chrysler": [0x2d4], "subaru": []}.get(CP.carName, None)
+
+ if radar_msgs is None:
+ raise NotImplementedError
+
+ for m in msg.can:
+ if m.src == 1 and m.address in radar_msgs:
+ return ["radarState", "liveTracks"]
+
+ return []
+
+def plannerd_rcv_callback(msg, CP):
+ if msg.which() in ["model", "radarState"]:
+ time.sleep(0.005)
+ else:
+ time.sleep(0.002)
+ return {"model": ["pathPlan"], "radarState": ["plan"]}.get(msg.which(), [])
+
+CONFIGS = [
+ ProcessConfig(
+ proc_name="controlsd",
+ pub_sub={
+ "can": ["controlsState", "carState", "carControl", "sendcan"],
+ "thermal": [], "health": [], "liveCalibration": [], "driverMonitoring": [], "plan": [], "pathPlan": []
+ },
+ ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"],
+ init_callback=fingerprint,
+ should_recv_callback=None,
+ ),
+ ProcessConfig(
+ proc_name="radard",
+ pub_sub={
+ "can": ["radarState", "liveTracks"],
+ "liveParameters": [], "controlsState": [], "model": [],
+ },
+ ignore=["logMonoTime", "radarState.cumLagMs"],
+ init_callback=get_car_params,
+ should_recv_callback=radar_rcv_callback,
+ ),
+ ProcessConfig(
+ proc_name="plannerd",
+ pub_sub={
+ "model": ["pathPlan"], "radarState": ["plan"],
+ "carState": [], "controlsState": [], "liveParameters": [],
+ },
+ ignore=["logMonoTime", "valid", "plan.processingDelay"],
+ init_callback=get_car_params,
+ should_recv_callback=plannerd_rcv_callback,
+ ),
+ ProcessConfig(
+ proc_name="calibrationd",
+ pub_sub={
+ "cameraOdometry": ["liveCalibration"]
+ },
+ ignore=["logMonoTime"],
+ init_callback=get_car_params,
+ should_recv_callback=None,
+ ),
+]
+
+def replay_process(cfg, lr):
+ gc.disable() # gc can occasionally cause canparser to timeout
+
+ pub_socks, sub_socks = {}, {}
+ for pub, sub in cfg.pub_sub.iteritems():
+ pub_socks[pub] = messaging.pub_sock(service_list[pub].port)
+
+ for s in sub:
+ sub_socks[s] = messaging.sub_sock(service_list[s].port)
+
+ all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
+ pub_msgs = filter(lambda msg: msg.which() in pub_socks.keys(), all_msgs)
+
+ params = Params()
+ params.manager_start()
+ params.put("Passive", "0")
+
+ manager.gctx = {}
+ manager.prepare_managed_process(cfg.proc_name)
+ manager.start_managed_process(cfg.proc_name)
+ time.sleep(3) # Wait for started process to be ready
+
+ if cfg.init_callback is not None:
+ cfg.init_callback(all_msgs, pub_socks, sub_socks)
+
+ CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
+
+ log_msgs = []
+ for msg in tqdm(pub_msgs):
+ if cfg.should_recv_callback is not None:
+ recv_socks = cfg.should_recv_callback(msg, CP)
+ else:
+ recv_socks = cfg.pub_sub[msg.which()]
+
+ pub_socks[msg.which()].send(msg.as_builder().to_bytes())
+
+ if len(recv_socks):
+ # TODO: add timeout
+ for sock in recv_socks:
+ m = messaging.recv_one(sub_socks[sock])
+
+ # make these values fixed for faster comparison
+ m_builder = m.as_builder()
+ m_builder.logMonoTime = 0
+ m_builder.valid = True
+ log_msgs.append(m_builder.as_reader())
+
+ gc.enable()
+ manager.kill_managed_process(cfg.proc_name)
+ return log_msgs
+
diff --git a/selfdrive/test/tests/process_replay/ref_commit b/selfdrive/test/tests/process_replay/ref_commit
new file mode 100644
index 000000000..30a1a2853
--- /dev/null
+++ b/selfdrive/test/tests/process_replay/ref_commit
@@ -0,0 +1 @@
+e3388c62ffb80f4b3ca8721da56a581a93c44e79
\ No newline at end of file
diff --git a/selfdrive/test/tests/process_replay/test_processes.py b/selfdrive/test/tests/process_replay/test_processes.py
new file mode 100755
index 000000000..8d70c80a2
--- /dev/null
+++ b/selfdrive/test/tests/process_replay/test_processes.py
@@ -0,0 +1,118 @@
+#!/usr/bin/env python2
+import os
+import requests
+import sys
+import tempfile
+
+from selfdrive.test.tests.process_replay.compare_logs import compare_logs
+from selfdrive.test.tests.process_replay.process_replay import replay_process, CONFIGS
+from tools.lib.logreader import LogReader
+
+segments = [
+ "0375fdf7b1ce594d|2019-06-13--08-32-25--3", # HONDA.ACCORD
+ "99c94dc769b5d96e|2019-08-03--14-19-59--2", # HONDA.CIVIC
+ "cce908f7eb8db67d|2019-08-02--15-09-51--3", # TOYOTA.COROLLA_TSS2
+ "7ad88f53d406b787|2019-07-09--10-18-56--8", # GM.VOLT
+ "704b2230eb5190d6|2019-07-06--19-29-10--0", # HYUNDAI.KIA_SORENTO
+ "b6e1317e1bfbefa6|2019-07-06--04-05-26--5", # CHRYSLER.JEEP_CHEROKEE
+ "7873afaf022d36e2|2019-07-03--18-46-44--0", # SUBARU.IMPREZA
+]
+
+def get_segment(segment_name):
+ route_name, segment_num = segment_name.rsplit("--", 1)
+ rlog_url = "https://commadataci.blob.core.windows.net/openpilotci/%s/%s/rlog.bz2" \
+ % (route_name.replace("|", "/"), segment_num)
+ r = requests.get(rlog_url)
+ if r.status_code != 200:
+ return None
+
+ with tempfile.NamedTemporaryFile(delete=False, suffix=".bz2") as f:
+ f.write(r.content)
+ return f.name
+
+if __name__ == "__main__":
+
+ process_replay_dir = os.path.dirname(os.path.abspath(__file__))
+ ref_commit_fn = os.path.join(process_replay_dir, "ref_commit")
+
+ if not os.path.isfile(ref_commit_fn):
+ print "couldn't find reference commit"
+ sys.exit(1)
+
+ ref_commit = open(ref_commit_fn).read().strip()
+ print "***** testing against commit %s *****" % ref_commit
+
+ results = {}
+ for segment in segments:
+ print "***** testing route segment %s *****\n" % segment
+
+ results[segment] = {}
+
+ rlog_fn = get_segment(segment)
+
+ if rlog_fn is None:
+ print "failed to get segment %s" % segment
+ sys.exit(1)
+
+ lr = LogReader(rlog_fn)
+
+ for cfg in CONFIGS:
+ log_msgs = replay_process(cfg, lr)
+
+ log_fn = os.path.join(process_replay_dir, "%s_%s_%s.bz2" % (segment, cfg.proc_name, ref_commit))
+
+ if not os.path.isfile(log_fn):
+ url = "https://commadataci.blob.core.windows.net/openpilotci/"
+ req = requests.get(url + os.path.basename(log_fn))
+ if req.status_code != 200:
+ results[segment][cfg.proc_name] = "failed to download comparison log"
+ continue
+
+ with tempfile.NamedTemporaryFile(suffix=".bz2") as f:
+ f.write(req.content)
+ f.flush()
+ f.seek(0)
+ cmp_log_msgs = list(LogReader(f.name))
+ else:
+ cmp_log_msgs = list(LogReader(log_fn))
+
+ diff = compare_logs(cmp_log_msgs, log_msgs, cfg.ignore)
+ results[segment][cfg.proc_name] = diff
+ os.remove(rlog_fn)
+
+ failed = False
+ with open(os.path.join(process_replay_dir, "diff.txt"), "w") as f:
+ f.write("***** tested against commit %s *****\n" % ref_commit)
+
+ for segment, result in results.items():
+ f.write("***** differences for segment %s *****\n" % segment)
+ print "***** results for segment %s *****" % segment
+
+ for proc, diff in result.items():
+ f.write("*** process: %s ***\n" % proc)
+ print "\t%s" % proc
+
+ if isinstance(diff, str):
+ print "\t\t%s" % diff
+ failed = True
+ elif len(diff):
+ cnt = {}
+ for d in diff:
+ f.write("\t%s\n" % str(d))
+
+ k = str(d[1])
+ cnt[k] = 1 if k not in cnt else cnt[k] + 1
+
+ for k, v in sorted(cnt.items()):
+ print "\t\t%s: %s" % (k, v)
+ failed = True
+
+ if failed:
+ print "TEST FAILED"
+ else:
+ print "TEST SUCCEEDED"
+
+ print "\n\nTo update the reference logs for this test run:"
+ print "./update_refs.py"
+
+ sys.exit(int(failed))
diff --git a/selfdrive/test/tests/process_replay/update_refs.py b/selfdrive/test/tests/process_replay/update_refs.py
new file mode 100755
index 000000000..4bc265939
--- /dev/null
+++ b/selfdrive/test/tests/process_replay/update_refs.py
@@ -0,0 +1,42 @@
+#!/usr/bin/env python2
+import os
+import sys
+
+from selfdrive.test.openpilotci_upload import upload_file
+from selfdrive.test.tests.process_replay.compare_logs import save_log
+from selfdrive.test.tests.process_replay.process_replay import replay_process, CONFIGS
+from selfdrive.test.tests.process_replay.test_processes import segments, get_segment
+from selfdrive.version import get_git_commit
+from tools.lib.logreader import LogReader
+
+if __name__ == "__main__":
+
+ no_upload = "--no-upload" in sys.argv
+
+ process_replay_dir = os.path.dirname(os.path.abspath(__file__))
+ ref_commit_fn = os.path.join(process_replay_dir, "ref_commit")
+
+ ref_commit = get_git_commit()
+ with open(ref_commit_fn, "w") as f:
+ f.write(ref_commit)
+
+ for segment in segments:
+ rlog_fn = get_segment(segment)
+
+ if rlog_fn is None:
+ print "failed to get segment %s" % segment
+ sys.exit(1)
+
+ lr = LogReader(rlog_fn)
+
+ for cfg in CONFIGS:
+ log_msgs = replay_process(cfg, lr)
+ log_fn = os.path.join(process_replay_dir, "%s_%s_%s.bz2" % (segment, cfg.proc_name, ref_commit))
+ save_log(log_fn, log_msgs)
+
+ if not no_upload:
+ upload_file(log_fn, os.path.basename(log_fn))
+ os.remove(log_fn)
+ os.remove(rlog_fn)
+
+ print "done"
diff --git a/selfdrive/ui/slplay.c b/selfdrive/ui/slplay.c
index 208505766..ddfbad56c 100644
--- a/selfdrive/ui/slplay.c
+++ b/selfdrive/ui/slplay.c
@@ -111,7 +111,7 @@ void slplay_destroy() {
(*engine)->Destroy(engine);
}
-void slplay_stop (uri_player* player, char **error) {
+void slplay_stop(uri_player* player, char **error) {
SLPlayItf playInterface = player->playInterface;
SLresult result;
diff --git a/selfdrive/ui/spinner/spinner b/selfdrive/ui/spinner/spinner
index acc86c78c..65c198aab 100755
Binary files a/selfdrive/ui/spinner/spinner and b/selfdrive/ui/spinner/spinner differ
diff --git a/selfdrive/ui/spinner/spinner.c b/selfdrive/ui/spinner/spinner.c
index ad7425150..3ec36e740 100644
--- a/selfdrive/ui/spinner/spinner.c
+++ b/selfdrive/ui/spinner/spinner.c
@@ -35,7 +35,7 @@ int main(int argc, char** argv) {
NVGcontext *vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES);
assert(vg);
- int font = nvgCreateFont(vg, "Bold", "../../assets/OpenSans-SemiBold.ttf");
+ int font = nvgCreateFont(vg, "Bold", "../../assets/fonts/opensans_semibold.ttf");
assert(font >= 0);
int spinner_img = nvgCreateImage(vg, "../../assets/img_spinner_track.png", 0);
diff --git a/selfdrive/ui/ui.c b/selfdrive/ui/ui.c
index ae11cfe06..4164c7fe4 100644
--- a/selfdrive/ui/ui.c
+++ b/selfdrive/ui/ui.c
@@ -109,6 +109,8 @@ const mat3 intrinsic_matrix = (mat3){{
0., 0., 1.
}};
+typedef enum cereal_CarControl_HUDControl_AudibleAlert AudibleAlert;
+
typedef struct UIScene {
int frontview;
int fullview;
@@ -164,8 +166,6 @@ typedef struct UIScene {
// Used to show gps planner status
bool gps_planner_active;
- bool is_playing_alert;
-
// for minimal UI
float angleSteersDes;
float angleSteers;
@@ -262,6 +262,7 @@ typedef struct UIState {
int awake_timeout;
int volume_timeout;
+ int alert_sound_timeout;
int speed_lim_off_timeout;
int is_metric_timeout;
int longitudinal_control_timeout;
@@ -274,7 +275,7 @@ typedef struct UIState {
float speed_lim_off;
bool is_ego_over_limit;
char alert_type[64];
- char alert_sound[64];
+ AudibleAlert alert_sound;
int alert_size;
float alert_blinking_alpha;
bool alert_blinked;
@@ -456,25 +457,25 @@ static const mat4 full_to_wide_frame_transform = {{
}};
typedef struct {
- const char* name;
+ AudibleAlert alert;
const char* uri;
bool loop;
} sound_file;
sound_file sound_table[] = {
- { "chimeDisengage", "../assets/sounds/disengaged.wav", false },
- { "chimeEngage", "../assets/sounds/engaged.wav", false },
- { "chimeWarning1", "../assets/sounds/warning_1.wav", false },
- { "chimeWarning2", "../assets/sounds/warning_2.wav", false },
- { "chimeWarningRepeat", "../assets/sounds/warning_2.wav", true },
- { "chimeError", "../assets/sounds/error.wav", false },
- { "chimePrompt", "../assets/sounds/error.wav", false },
- { NULL, NULL, false },
+ { cereal_CarControl_HUDControl_AudibleAlert_chimeDisengage, "../assets/sounds/disengaged.wav", false },
+ { cereal_CarControl_HUDControl_AudibleAlert_chimeEngage, "../assets/sounds/engaged.wav", false },
+ { cereal_CarControl_HUDControl_AudibleAlert_chimeWarning1, "../assets/sounds/warning_1.wav", false },
+ { cereal_CarControl_HUDControl_AudibleAlert_chimeWarning2, "../assets/sounds/warning_2.wav", false },
+ { cereal_CarControl_HUDControl_AudibleAlert_chimeWarningRepeat, "../assets/sounds/warning_2.wav", true },
+ { cereal_CarControl_HUDControl_AudibleAlert_chimeError, "../assets/sounds/error.wav", false },
+ { cereal_CarControl_HUDControl_AudibleAlert_chimePrompt, "../assets/sounds/error.wav", false },
+ { cereal_CarControl_HUDControl_AudibleAlert_none, NULL, false },
};
-sound_file* get_sound_file_by_name(const char* name) {
- for (sound_file *s = sound_table; s->name != NULL; s++) {
- if (strcmp(s->name, name) == 0) {
+sound_file* get_sound_file(AudibleAlert alert) {
+ for (sound_file *s = sound_table; s->alert != cereal_CarControl_HUDControl_AudibleAlert_none; s++) {
+ if (s->alert == alert) {
return s;
}
}
@@ -487,7 +488,7 @@ void ui_sound_init(char **error) {
slplay_setup(error);
if (*error) return;
- for (sound_file *s = sound_table; s->name != NULL; s++) {
+ for (sound_file *s = sound_table; s->alert != cereal_CarControl_HUDControl_AudibleAlert_none; s++) {
slplay_create_player_for_uri(s->uri, error);
if (*error) return;
}
@@ -527,13 +528,13 @@ static void ui_init(UIState *s) {
s->vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
assert(s->vg);
- s->font_courbd = nvgCreateFont(s->vg, "courbd", "../assets/courbd.ttf");
+ s->font_courbd = nvgCreateFont(s->vg, "courbd", "../assets/fonts/courbd.ttf");
assert(s->font_courbd >= 0);
- s->font_sans_regular = nvgCreateFont(s->vg, "sans-regular", "../assets/OpenSans-Regular.ttf");
+ s->font_sans_regular = nvgCreateFont(s->vg, "sans-regular", "../assets/fonts/opensans_regular.ttf");
assert(s->font_sans_regular >= 0);
- s->font_sans_semibold = nvgCreateFont(s->vg, "sans-semibold", "../assets/OpenSans-SemiBold.ttf");
+ s->font_sans_semibold = nvgCreateFont(s->vg, "sans-semibold", "../assets/fonts/opensans_semibold.ttf");
assert(s->font_sans_semibold >= 0);
- s->font_sans_bold = nvgCreateFont(s->vg, "sans-bold", "../assets/OpenSans-Bold.ttf");
+ s->font_sans_bold = nvgCreateFont(s->vg, "sans-bold", "../assets/fonts/opensans_bold.ttf");
assert(s->font_sans_bold >= 0);
s->font_miui_regular = nvgCreateFont(s->vg, "miui-regular", "/system/fonts/Miui-Regular.ttf");
assert(s->font_miui_regular >= 0);
@@ -1263,8 +1264,8 @@ static void ui_draw_vision_speedlimit(UIState *s) {
if (is_speedlim_valid && s->is_ego_over_limit) {
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
}
- nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2 + (is_speedlim_valid ? 6 : 0), viz_speedlim_y + (is_speedlim_valid ? 50 : 45), "SPEED", NULL);
- nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2 + (is_speedlim_valid ? 6 : 0), viz_speedlim_y + (is_speedlim_valid ? 90 : 85), "LIMIT", NULL);
+ nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2 + (is_speedlim_valid ? 6 : 0), viz_speedlim_y + (is_speedlim_valid ? 50 : 45), "SMART", NULL);
+ nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2 + (is_speedlim_valid ? 6 : 0), viz_speedlim_y + (is_speedlim_valid ? 90 : 85), "SPEED", NULL);
// Draw Speed Text
nvgFontFace(s->vg, "sans-bold");
@@ -1745,7 +1746,7 @@ static void ui_draw_vision_footer(UIState *s) {
}
#ifdef SHOW_SPEEDLIMIT
- ui_draw_vision_map(s);
+ // ui_draw_vision_map(s);
#endif
if (s->dragon_ui_dev) {
ui_draw_bbui(s);
@@ -1970,29 +1971,31 @@ void handle_message(UIState *s, void *which) {
s->scene.decel_for_model = datad.decelForModel;
+ s->alert_sound_timeout = 1 * UI_FREQ;
+
s->scene.angleSteers = datad.angleSteers;
s->scene.angleSteersDes = datad.angleSteersDes;
- if (datad.alertSound.str && datad.alertSound.str[0] != '\0' && strcmp(s->alert_type, datad.alertType.str) != 0) {
+ if (datad.alertSound != cereal_CarControl_HUDControl_AudibleAlert_none && datad.alertSound != s->alert_sound) {
char* error = NULL;
- if (s->alert_sound[0] != '\0') {
- sound_file* active_sound = get_sound_file_by_name(s->alert_sound);
+ if (s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
+ sound_file* active_sound = get_sound_file(s->alert_sound);
slplay_stop_uri(active_sound->uri, &error);
if (error) {
LOGW("error stopping active sound %s", error);
}
}
- sound_file* sound = get_sound_file_by_name(datad.alertSound.str);
+ sound_file* sound = get_sound_file(datad.alertSound);
slplay_play(sound->uri, sound->loop, &error);
if(error) {
LOGW("error playing sound: %s", error);
}
- snprintf(s->alert_sound, sizeof(s->alert_sound), "%s", datad.alertSound.str);
+ s->alert_sound = datad.alertSound;
snprintf(s->alert_type, sizeof(s->alert_type), "%s", datad.alertType.str);
- } else if ((!datad.alertSound.str || datad.alertSound.str[0] == '\0') && s->alert_sound[0] != '\0') {
- sound_file* sound = get_sound_file_by_name(s->alert_sound);
+ } else if ((!datad.alertSound || datad.alertSound == cereal_CarControl_HUDControl_AudibleAlert_none) && s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
+ sound_file* sound = get_sound_file(s->alert_sound);
char* error = NULL;
@@ -2001,7 +2004,7 @@ void handle_message(UIState *s, void *which) {
LOGW("error stopping sound: %s", error);
}
s->alert_type[0] = '\0';
- s->alert_sound[0] = '\0';
+ s->alert_sound = cereal_CarControl_HUDControl_AudibleAlert_none;
}
if (datad.alertText1.str) {
@@ -2138,8 +2141,6 @@ void handle_message(UIState *s, void *which) {
} else if (eventd.which == cereal_Event_liveMapData) {
struct cereal_LiveMapData datad;
cereal_read_LiveMapData(&datad, eventd.liveMapData);
- s->scene.speedlimit = datad.speedLimit;
- s->scene.speedlimit_valid = datad.speedLimitValid;
s->scene.map_valid = datad.mapValid;
}
capn_free(&ctx);
@@ -2570,7 +2571,10 @@ int main(int argc, char* argv[]) {
float smooth_brightness = BRIGHTNESS_B;
- set_volume(s, 13);
+ const int MIN_VOLUME = LEON ? 12 : 8;
+ const int MAX_VOLUME = LEON ? 15 : 13;
+
+ set_volume(s, MIN_VOLUME);
#ifdef DEBUG_FPS
vipc_t1 = millis_since_boot();
double t1 = millis_since_boot();
@@ -2644,10 +2648,24 @@ int main(int argc, char* argv[]) {
if (s->volume_timeout > 0) {
s->volume_timeout--;
} else {
- int volume = min(13, 11 + s->scene.v_ego / 15); // up one notch every 15 m/s, starting at 11
+ int volume = min(MAX_VOLUME, MIN_VOLUME + s->scene.v_ego / 5); // up one notch every 5 m/s
set_volume(s, volume);
}
+ // stop playing alert sounds if no controlsState msg for 1 second
+ if (s->alert_sound_timeout > 0) {
+ s->alert_sound_timeout--;
+ } else if (s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none){
+ sound_file* sound = get_sound_file(s->alert_sound);
+ char* error = NULL;
+
+ slplay_stop_uri(sound->uri, &error);
+ if(error) {
+ LOGW("error stopping sound: %s", error);
+ }
+ s->alert_sound = cereal_CarControl_HUDControl_AudibleAlert_none;
+ }
+
read_param_bool_timeout(&s->is_metric, "IsMetric", &s->is_metric_timeout);
read_param_bool_timeout(&s->longitudinal_control, "LongitudinalControl", &s->longitudinal_control_timeout);
read_param_bool_timeout(&s->limit_set_speed, "LimitSetSpeed", &s->limit_set_speed_timeout);
diff --git a/selfdrive/visiond/build_from_src.mk b/selfdrive/visiond/build_from_src.mk
index d9d320cf3..41e844fe1 100644
--- a/selfdrive/visiond/build_from_src.mk
+++ b/selfdrive/visiond/build_from_src.mk
@@ -46,11 +46,10 @@ else
LIBYUV_FLAGS = -I$(PHONELIBS)/libyuv/include
LIBYUV_LIBS = $(PHONELIBS)/libyuv/x64/lib/libyuv.a
- ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
- ZMQ_LIBS = -l:libczmq.a -l:libzmq.a -lsodium
+ ZMQ_FLAGS = -I$(PHONELIBS)/zmq/x64/include
+ ZMQ_LIBS = -L$(PHONELIBS)/zmq/x64/lib/ -l:libczmq.a -l:libzmq.a
OPENCL_LIBS = -lOpenCL
- UUID_LIBS = -luuid
TF_FLAGS = -I$(EXTERNAL)/tensorflow/include
TF_LIBS = -L$(EXTERNAL)/tensorflow/lib -ltensorflow \
diff --git a/selfdrive/visiond/models/driving.cc b/selfdrive/visiond/models/driving.cc
index 6559e1647..33b7ec10f 100644
--- a/selfdrive/visiond/models/driving.cc
+++ b/selfdrive/visiond/models/driving.cc
@@ -4,36 +4,32 @@
#include
#ifdef QCOM
- #include
+#include
#else
- #include
+#include
#endif
#include "common/timing.h"
#include "driving.h"
-#ifdef MEDMODEL
- #define MODEL_WIDTH 512
- #define MODEL_HEIGHT 256
- #define MODEL_NAME "driving_model_dlc"
-#else
- #define MODEL_WIDTH 320
- #define MODEL_HEIGHT 160
- #define MODEL_NAME "driving_model_dlc"
-#endif
+#define MODEL_WIDTH 512
+#define MODEL_HEIGHT 256
+#define MODEL_NAME "driving_model_dlc"
#define LEAD_MDN_N 5 // probs for 5 groups
#define MDN_VALS 4 // output xyva for each lead group
#define SELECTION 3 //output 3 group (lead now, in 2s and 6s)
#define MDN_GROUP_SIZE 11
#define SPEED_BUCKETS 100
-#define OUTPUT_SIZE ((MODEL_PATH_DISTANCE*2) + (2*(MODEL_PATH_DISTANCE*2 + 1)) + MDN_GROUP_SIZE*LEAD_MDN_N + SELECTION + SPEED_BUCKETS)
+#define OUTPUT_SIZE ((MODEL_PATH_DISTANCE*2) + (2*(MODEL_PATH_DISTANCE*2 + 1)) + MDN_GROUP_SIZE*LEAD_MDN_N + SELECTION)
#ifdef TEMPORAL
#define TEMPORAL_SIZE 512
#else
#define TEMPORAL_SIZE 0
#endif
+// #define DUMP_YUV
+
Eigen::Matrix vander;
void model_init(ModelState* s, cl_device_id device_id, cl_context context, int temporal) {
@@ -70,6 +66,13 @@ ModelData model_eval_frame(ModelState* s, cl_command_queue q,
float *net_input_buf = model_input_prepare(&s->in, q, yuv_cl, width, height, transform);
+ #ifdef DUMP_YUV
+ FILE *dump_yuv_file = fopen("/sdcard/dump.yuv", "wb");
+ fwrite(net_input_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file);
+ fclose(dump_yuv_file);
+ assert(1==2);
+ #endif
+
//printf("readinggggg \n");
//FILE *f = fopen("goof_frame", "r");
//fread(net_input_buf, sizeof(float), MODEL_HEIGHT*MODEL_WIDTH*3/2, f);
@@ -84,7 +87,7 @@ ModelData model_eval_frame(ModelState* s, cl_command_queue q,
net_outputs.left_lane = &s->output[MODEL_PATH_DISTANCE*2];
net_outputs.right_lane = &s->output[MODEL_PATH_DISTANCE*2 + MODEL_PATH_DISTANCE*2 + 1];
net_outputs.lead = &s->output[MODEL_PATH_DISTANCE*2 + (MODEL_PATH_DISTANCE*2 + 1)*2];
- net_outputs.speed = &s->output[OUTPUT_SIZE - SPEED_BUCKETS];
+ //net_outputs.speed = &s->output[OUTPUT_SIZE - SPEED_BUCKETS];
ModelData model = {0};
@@ -111,7 +114,11 @@ ModelData model_eval_frame(ModelState* s, cl_command_queue q,
const double max_dist = 140.0;
const double max_rel_vel = 10.0;
- // current lead
+ // Every output distribution from the MDN includes the probabilties
+ // of it representing a current lead car, a lead car in 2s
+ // or a lead car in 4s
+
+ // Find the distribution that corresponds to the current lead
int mdn_max_idx = 0;
for (int i=1; i net_outputs.lead[mdn_max_idx*MDN_GROUP_SIZE + 8]) {
@@ -127,8 +134,8 @@ ModelData model_eval_frame(ModelState* s, cl_command_queue q,
model.lead.rel_v_std = softplus(net_outputs.lead[mdn_max_idx*MDN_GROUP_SIZE + MDN_VALS + 2]) * max_rel_vel;
model.lead.rel_a = net_outputs.lead[mdn_max_idx*MDN_GROUP_SIZE + 3];
model.lead.rel_a_std = softplus(net_outputs.lead[mdn_max_idx*MDN_GROUP_SIZE + MDN_VALS + 3]);
-
- // lead in 2s
+
+ // Find the distribution that corresponds to the lead in 2s
mdn_max_idx = 0;
for (int i=1; i net_outputs.lead[mdn_max_idx*MDN_GROUP_SIZE + 9]) {
@@ -150,20 +157,20 @@ ModelData model_eval_frame(ModelState* s, cl_command_queue q,
for (int i=0; i < SPEED_PERCENTILES; i++) {
model.speed[i] = ((float) SPEED_BUCKETS)/2.0;
}
- float sum = 0;
- for (int idx = 0; idx < SPEED_BUCKETS; idx++) {
- sum += net_outputs.speed[idx];
- int idx_percentile = (sum + .05) * SPEED_PERCENTILES;
- if (idx_percentile < SPEED_PERCENTILES ){
- model.speed[idx_percentile] = ((float)idx)/2.0;
- }
- }
+ //float sum = 0;
+ //for (int idx = 0; idx < SPEED_BUCKETS; idx++) {
+ // sum += net_outputs.speed[idx];
+ // int idx_percentile = (sum + .05) * SPEED_PERCENTILES;
+ // if (idx_percentile < SPEED_PERCENTILES ){
+ // model.speed[idx_percentile] = ((float)idx)/2.0;
+ // }
+ //}
// make sure no percentiles are skipped
- for (int i=SPEED_PERCENTILES-1; i > 0; i--){
- if (model.speed[i-1] > model.speed[i]){
- model.speed[i-1] = model.speed[i];
- }
- }
+ //for (int i=SPEED_PERCENTILES-1; i > 0; i--){
+ // if (model.speed[i-1] > model.speed[i]){
+ // model.speed[i-1] = model.speed[i];
+ // }
+ //}
return model;
}
diff --git a/selfdrive/visiond/models/driving.h b/selfdrive/visiond/models/driving.h
index 2afb20521..966cf6947 100644
--- a/selfdrive/visiond/models/driving.h
+++ b/selfdrive/visiond/models/driving.h
@@ -2,7 +2,6 @@
#define MODEL_H
// gate this here
-#define MEDMODEL
#define TEMPORAL
#include "common/mat.h"
diff --git a/selfdrive/visiond/models/monitoring.cc b/selfdrive/visiond/models/monitoring.cc
index 9e874aa0e..f6e47880f 100644
--- a/selfdrive/visiond/models/monitoring.cc
+++ b/selfdrive/visiond/models/monitoring.cc
@@ -42,6 +42,8 @@ MonitoringResult monitoring_eval_frame(MonitoringState* s, cl_command_queue q,
memcpy(&ret.face_prob, &s->output[12], sizeof ret.face_prob);
memcpy(&ret.left_eye_prob, &s->output[21], sizeof ret.left_eye_prob);
memcpy(&ret.right_eye_prob, &s->output[30], sizeof ret.right_eye_prob);
+ memcpy(&ret.left_blink_prob, &s->output[31], sizeof ret.right_eye_prob);
+ memcpy(&ret.right_blink_prob, &s->output[32], sizeof ret.right_eye_prob);
return ret;
}
diff --git a/selfdrive/visiond/models/monitoring.h b/selfdrive/visiond/models/monitoring.h
index 80c65d0f0..2be96825f 100644
--- a/selfdrive/visiond/models/monitoring.h
+++ b/selfdrive/visiond/models/monitoring.h
@@ -9,7 +9,7 @@ extern "C" {
#endif
#define OUTPUT_SIZE_DEPRECATED 8
-#define OUTPUT_SIZE 31
+#define OUTPUT_SIZE 33
typedef struct MonitoringResult {
float descriptor_DEPRECATED[OUTPUT_SIZE_DEPRECATED - 1];
@@ -20,6 +20,8 @@ typedef struct MonitoringResult {
float face_prob;
float left_eye_prob;
float right_eye_prob;
+ float left_blink_prob;
+ float right_blink_prob;
} MonitoringResult;
typedef struct MonitoringState {
diff --git a/selfdrive/visiond/runners/run.h b/selfdrive/visiond/runners/run.h
index d92519daf..049f06584 100644
--- a/selfdrive/visiond/runners/run.h
+++ b/selfdrive/visiond/runners/run.h
@@ -7,8 +7,9 @@
#ifdef QCOM
#define DefaultRunModel SNPEModel
#else
- #include "tfmodel.h"
- #define DefaultRunModel TFModel
+#define DefaultRunModel SNPEModel
+ /* #include "tfmodel.h" */
+ /* #define DefaultRunModel TFModel */
#endif
#endif
diff --git a/selfdrive/visiond/visiond.cc b/selfdrive/visiond/visiond.cc
index dd19912b3..a0cce70ab 100644
--- a/selfdrive/visiond/visiond.cc
+++ b/selfdrive/visiond/visiond.cc
@@ -26,6 +26,12 @@
#include
#include
+#ifdef QCOM
+#include
+#else
+#include
+#endif
+
#include "common/version.h"
#include "common/util.h"
#include "common/timing.h"
@@ -45,6 +51,7 @@
#include "cameras/camera_frame_stream.h"
#endif
+
// 3 models
#include "models/driving.h"
#include "models/monitoring.h"
@@ -58,7 +65,7 @@
#define UI_BUF_COUNT 4
-//#define DUMP_RGB
+// #define DUMP_RGB
//#define DEBUG_DRIVER_MONITOR
@@ -741,6 +748,8 @@ void* monitoring_thread(void *arg) {
framed.setFaceProb(res.face_prob);
framed.setLeftEyeProb(res.left_eye_prob);
framed.setRightEyeProb(res.right_eye_prob);
+ framed.setLeftBlinkProb(res.left_blink_prob);
+ framed.setRightBlinkProb(res.right_blink_prob);
auto words = capnp::messageToFlatArray(msg);
@@ -895,6 +904,8 @@ void* processing_thread(void *arg) {
#endif
#ifdef DUMP_RGB
+ s->rgb_width = s->frame_width;
+ s->rgb_height = s->frame_height;
FILE *dump_rgb_file = fopen("/sdcard/dump.rgb", "wb");
#endif
@@ -959,6 +970,8 @@ void* processing_thread(void *arg) {
#ifdef DUMP_RGB
if (cnt % 20 == 0) {
fwrite(bgr_ptr, s->rgb_buf_size, 1, dump_rgb_file);
+ LOG("%d x %d", s->rgb_width, s->rgb_height);
+ assert(1==2);
}
#endif
@@ -1202,6 +1215,24 @@ void* live_thread(void *arg) {
zpoller_t *poller = zpoller_new(liveCalibration_sock, terminate, NULL);
assert(poller);
+ /*
+ import numpy as np
+ from common.transformations.model import medmodel_frame_from_road_frame
+ medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
+ ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
+ */
+ Eigen::Matrix ground_from_medmodel_frame;
+ ground_from_medmodel_frame <<
+ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
+ -1.09890110e-03, 0.00000000e+00, 2.81318681e-01,
+ -1.84808520e-20, 9.00738606e-04,-4.28751576e-02;
+
+ Eigen::Matrix eon_intrinsics;
+ eon_intrinsics <<
+ 910.0, 0.0, 582.0,
+ 0.0, 910.0, 437.0,
+ 0.0, 0.0, 1.0;
+
while (!do_exit) {
zsock_t *which = (zsock_t*)zpoller_wait(poller, -1);
if (which == terminate || which == NULL) {
@@ -1226,15 +1257,25 @@ void* live_thread(void *arg) {
if (event.isLiveCalibration()) {
pthread_mutex_lock(&s->transform_lock);
-#ifdef MEDMODEL
- auto wm2 = event.getLiveCalibration().getWarpMatrixBig();
-#else
- auto wm2 = event.getLiveCalibration().getWarpMatrix2();
-#endif
- assert(wm2.size() == 3*3);
- for (int i=0; i<3*3; i++) {
- s->cur_transform.v[i] = wm2[i];
+
+ auto extrinsic_matrix = event.getLiveCalibration().getExtrinsicMatrix();
+ Eigen::Matrix extrinsic_matrix_eigen;
+ for (int i = 0; i < 4*3; i++){
+ extrinsic_matrix_eigen(i / 4, i % 4) = extrinsic_matrix[i];
}
+
+ auto camera_frame_from_road_frame = eon_intrinsics * extrinsic_matrix_eigen;
+ Eigen::Matrix camera_frame_from_ground;
+ camera_frame_from_ground.col(0) = camera_frame_from_road_frame.col(0);
+ camera_frame_from_ground.col(1) = camera_frame_from_road_frame.col(1);
+ camera_frame_from_ground.col(2) = camera_frame_from_road_frame.col(3);
+
+ auto warp_matrix = camera_frame_from_ground * ground_from_medmodel_frame;
+
+ for (int i=0; i<3*3; i++) {
+ s->cur_transform.v[i] = warp_matrix(i / 3, i % 3);
+ }
+
s->run_model = true;
pthread_mutex_unlock(&s->transform_lock);
}