param - init

opendbc_repo/opendbc/car/body/interface.py

@@ -11,7 +11,7 @@ class CarInterface(CarInterfaceBase):
   CarController = CarController
 
   @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, dp_params, docs) -> structs.CarParams:
     ret.notCar = True
     ret.brand = "body"
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.body)]

opendbc_repo/opendbc/car/car_helpers.py

@@ -149,7 +149,7 @@ def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_mu
 
 
 def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, alpha_long_allowed: bool,
-            is_release: bool, num_pandas: int = 1, cached_params: CarParamsT | None = None):
+            is_release: bool, num_pandas: int = 1, dp_params: int = 0, cached_params: CarParamsT | None = None):
   candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params)
 
   if candidate is None:
@@ -157,7 +157,7 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
     candidate = "MOCK"
 
   CarInterface = interfaces[candidate]
-  CP: CarParams = CarInterface.get_params(candidate, fingerprints, car_fw, alpha_long_allowed, is_release, docs=False)
+  CP: CarParams = CarInterface.get_params(candidate, fingerprints, car_fw, alpha_long_allowed, is_release, dp_params, docs=False)
   CP.carVin = vin
   CP.carFw = car_fw
   CP.fingerprintSource = source

opendbc_repo/opendbc/car/chrysler/interface.py

@@ -13,7 +13,7 @@ class CarInterface(CarInterfaceBase):
   RadarInterface = RadarInterface
 
   @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, dp_params, docs) -> structs.CarParams:
     ret.brand = "chrysler"
     ret.dashcamOnly = candidate in RAM_HD
 

opendbc_repo/opendbc/car/docs.py

@@ -32,7 +32,7 @@ def get_params_for_docs(platform) -> CarParams:
   cp_platform = platform if platform in interfaces else MOCK.MOCK
   CP: CarParams = interfaces[cp_platform].get_params(cp_platform, fingerprint=gen_empty_fingerprint(),
                                                      car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)],
-                                                     alpha_long=True, is_release=False, docs=True)
+                                                     alpha_long=True, is_release=False, dp_params=0, docs=True)
   return CP
 
 

opendbc_repo/opendbc/car/ford/interface.py

@@ -26,7 +26,7 @@ class CarInterface(CarInterfaceBase):
     return CarControllerParams.ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
   @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, dp_params, docs) -> structs.CarParams:
     ret.brand = "ford"
 
     ret.radarUnavailable = Bus.radar not in DBC[candidate]

opendbc_repo/opendbc/car/gm/interface.py

@@ -85,7 +85,7 @@ class CarInterface(CarInterfaceBase):
       return self.torque_from_lateral_accel_linear
 
   @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, dp_params, docs) -> structs.CarParams:
     ret.brand = "gm"
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False

opendbc_repo/opendbc/car/honda/interface.py

@@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase):
       return CarControllerParams.NIDEC_ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
   @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, dp_params, docs) -> structs.CarParams:
     ret.brand = "honda"
 
     CAN = CanBus(ret, fingerprint)

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -23,7 +23,7 @@ class CarInterface(CarInterfaceBase):
   RadarInterface = RadarInterface
 
   @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, dp_params, docs) -> structs.CarParams:
     ret.brand = "hyundai"
 
     # "LKA steering" if LKAS or LKAS_ALT messages are seen coming from the camera.

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -51,7 +51,7 @@ class TestHyundaiFingerprint:
       if lka_steering:
         cam_can = CanBus(None, fingerprint).CAM
         fingerprint[cam_can] = [0x50, 0x110]  # LKA steering messages
-      CP = CarInterface.get_params(CAR.KIA_EV6, fingerprint, [], False, False, False)
+      CP = CarInterface.get_params(CAR.KIA_EV6, fingerprint, [], False, False, 0, False)
       assert bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING) == lka_steering
 
     # radar available
@@ -59,14 +59,14 @@ class TestHyundaiFingerprint:
       fingerprint = gen_empty_fingerprint()
       if radar:
         fingerprint[1][RADAR_START_ADDR] = 8
-      CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False)
+      CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, 0, False)
       assert CP.radarUnavailable != radar
 
   def test_alternate_limits(self):
     # Alternate lateral control limits, for high torque cars, verify Panda safety mode flag is set
     fingerprint = gen_empty_fingerprint()
     for car_model in CAR:
-      CP = CarInterface.get_params(car_model, fingerprint, [], False, False, False)
+      CP = CarInterface.get_params(car_model, fingerprint, [], False, False, 0, False)
       assert bool(CP.flags & HyundaiFlags.ALT_LIMITS) == bool(CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.ALT_LIMITS)
 
   def test_can_features(self):

opendbc_repo/opendbc/car/interfaces.py

@@ -135,11 +135,11 @@ class CarInterfaceBase(ABC):
     """
     Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
     """
-    return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False, False)
+    return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False, 0, False)
 
   @classmethod
   def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw],
-                 alpha_long: bool, is_release: bool, docs: bool) -> structs.CarParams:
+                 alpha_long: bool, is_release: bool, dp_params: int, docs: bool) -> structs.CarParams:
     ret = CarInterfaceBase.get_std_params(candidate)
 
     platform = PLATFORMS[candidate]
@@ -152,7 +152,7 @@ class CarInterfaceBase(ABC):
     ret.tireStiffnessFactor = platform.config.specs.tireStiffnessFactor
     ret.flags |= int(platform.config.flags)
 
-    ret = cls._get_params(ret, candidate, fingerprint, car_fw, alpha_long, is_release, docs)
+    ret = cls._get_params(ret, candidate, fingerprint, car_fw, alpha_long, is_release, dp_params, docs)
 
     # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
     if not ret.notCar:
@@ -167,7 +167,7 @@ class CarInterfaceBase(ABC):
   @staticmethod
   @abstractmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint: dict[int, dict[int, int]],
-                  car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release: bool, docs: bool) -> structs.CarParams:
+                  car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release: bool, dp_params: int, docs: bool) -> structs.CarParams:
     raise NotImplementedError
 
   @staticmethod

opendbc_repo/opendbc/car/mazda/interface.py

@@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase):
   CarController = CarController
 
   @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, dp_params, docs) -> structs.CarParams:
     ret.brand = "mazda"
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.mazda)]
     ret.radarUnavailable = True

opendbc_repo/opendbc/car/mock/interface.py

@@ -11,7 +11,7 @@ class CarInterface(CarInterfaceBase):
   CarController = CarController
 
   @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, dp_params, docs) -> structs.CarParams:
     ret.brand = "mock"
     ret.mass = 1700.
     ret.wheelbase = 2.70

opendbc_repo/opendbc/car/nissan/interface.py

@@ -10,7 +10,7 @@ class CarInterface(CarInterfaceBase):
   CarController = CarController
 
   @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, dp_params, docs) -> structs.CarParams:
     ret.brand = "nissan"
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.nissan)]
     ret.autoResumeSng = False

opendbc_repo/opendbc/car/rivian/interface.py

@@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase):
   RadarInterface = RadarInterface
 
   @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, dp_params, docs) -> structs.CarParams:
     ret.brand = "rivian"
 
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.rivian)]

opendbc_repo/opendbc/car/structs.py

@@ -18,3 +18,6 @@ CarStateT = capnp.lib.capnp._StructModule
 RadarDataT = capnp.lib.capnp._StructModule
 CarControlT = capnp.lib.capnp._StructModule
 CarParamsT = capnp.lib.capnp._StructModule
+
+class DPFlags:
+  pass

opendbc_repo/opendbc/car/subaru/interface.py

@@ -11,7 +11,7 @@ class CarInterface(CarInterfaceBase):
   CarController = CarController
 
   @staticmethod
-  def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, dp_params, docs) -> structs.CarParams:
     ret.brand = "subaru"
     ret.radarUnavailable = True
     # for HYBRID CARS to be upstreamed, we need:

opendbc_repo/opendbc/car/tesla/interface.py

@@ -10,7 +10,7 @@ class CarInterface(CarInterfaceBase):
   CarController = CarController
 
   @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, dp_params, docs) -> structs.CarParams:
     ret.brand = "tesla"
 
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla)]

opendbc_repo/opendbc/car/tests/test_car_interfaces.py

@@ -59,7 +59,7 @@ class TestCarInterfaces:
     args = get_fuzzy_car_interface_args(data.draw)
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
-                                         alpha_long=args['alpha_long'], is_release=False, docs=False)
+                                         alpha_long=args['alpha_long'], is_release=False, dp_params=0, docs=False)
     car_interface = CarInterface(car_params)
     assert car_params
     assert car_interface

opendbc_repo/opendbc/car/toyota/interface.py

@@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
     return CarControllerParams(CP).ACCEL_MIN, CarControllerParams(CP).ACCEL_MAX
 
   @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, dp_params, docs) -> structs.CarParams:
     ret.brand = "toyota"
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.toyota)]
     ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]

opendbc_repo/opendbc/car/volkswagen/interface.py

@@ -10,7 +10,7 @@ class CarInterface(CarInterfaceBase):
   CarController = CarController
 
   @staticmethod
-  def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+  def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alpha_long, is_release, dp_params, docs) -> structs.CarParams:
     ret.brand = "volkswagen"
     ret.radarUnavailable = True
 

selfdrive/car/card.py

@@ -82,6 +82,8 @@ class Car:
 
     is_release = self.params.get_bool("IsReleaseBranch")
 
+    dp_params = 0
+
     if CI is None:
       # wait for one pandaState and one CAN packet
       print("Waiting for CAN messages...")
@@ -99,7 +101,7 @@ class Car:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, dp_params, cached_params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP
 

selfdrive/car/tests/test_car_interfaces.py

@@ -39,7 +39,7 @@ class TestCarInterfaces:
     args = get_fuzzy_car_interface_args(data.draw)
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
-                                         alpha_long=args['alpha_long'], is_release=False, docs=False)
+                                         alpha_long=args['alpha_long'], is_release=False, dp_params=0, docs=False)
     car_params = car_params.as_reader()
     car_interface = CarInterface(car_params)
     assert car_params

selfdrive/car/tests/test_models.py

@@ -152,7 +152,7 @@ class TestCarModelBase(unittest.TestCase):
     cls.openpilot_enabled = cls.car_safety_mode_frame is not None
 
     cls.CarInterface = interfaces[cls.platform]
-    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
+    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, dp_params=0, docs=False)
     assert cls.CP
     assert cls.CP.carFingerprint == cls.platform
 

selfdrive/controls/lib/longitudinal_planner.py

@@ -26,6 +26,8 @@ MIN_ALLOW_THROTTLE_SPEED = 2.5
 _A_TOTAL_MAX_V = [1.7, 3.2]
 _A_TOTAL_MAX_BP = [20., 40.]
 
+class DPFlags:
+  pass
 
 def get_max_accel(v_ego):
   return np.interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
@@ -89,7 +91,7 @@ class LongitudinalPlanner:
       throttle_prob = 1.0
     return x, v, a, j, throttle_prob
 
-  def update(self, sm):
+  def update(self, sm, dp_flags = 0):
     self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
 
     if len(sm['carControl'].orientationNED) == 3:

selfdrive/controls/plannerd.py

@@ -4,7 +4,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.ldw import LaneDepartureWarning
-from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
+from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner, DPFlags
 import cereal.messaging as messaging
 
 
@@ -22,10 +22,12 @@ def main():
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2')
 
+  dp_flags = 0
+
   while True:
     sm.update()
     if sm.updated['modelV2']:
-      longitudinal_planner.update(sm)
+      longitudinal_planner.update(sm, dp_flags)
       longitudinal_planner.publish(sm, pm)
 
       ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])