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Merge branch 'master-priv' into hkg-can-jerk

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This commit is contained in:
Jason Wen
2024-07-27 02:05:08 -04:00
parent 5ba3e90676 7b8a03b5f2
commit 287e2fc845
31 changed files with 241 additions and 331 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitlab-ci.yml
+5 -4
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@@ -10,6 +10,7 @@ variables:
GIT_CONFIG_USER_NAME: "Gitlab Pipeline"
PUBLIC_REPO_URL: "https://github.com/sunnyhaibin/sunnypilot"
stages:
- build
- sanity
@@ -29,13 +30,13 @@ default:
- 'git config --global user.name "${GIT_CONFIG_USER_NAME}"'
workflow: # If running on any branch other than main, use the `aws-datacontracts-dev` account; otherwise use `aws-datacontracts`
workflow: # If running on any branch other than main.
rules:
# We are an MR, but it's a draft, we won't proceed with anything.
- if: '$CI_MERGE_REQUEST_TITLE =~ /^wip:/i || $CI_MERGE_REQUEST_TITLE =~ /^draft:/i'
when: never
# We are a merge request
- if: $CI_MERGE_REQUEST_IID #|| $CI_COMMIT_REF_NAME == "gitlab-pipelines" # TBD once merged
- if: $CI_MERGE_REQUEST_IID
variables:
EXTRA_VERSION_IDENTIFIER: "-${CI_PIPELINE_IID}"
NEW_BRANCH: ${CI_COMMIT_REF_NAME}-prebuilt
@@ -98,7 +99,7 @@ build:
- sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py # comment panda jungle when prebuilt
- scons -j$(nproc) cache_dir=${CI_DIR}/scons_cache --minimal
- touch ${BUILD_DIR}/prebuilt
- sudo rm -rf ${OUTPUT_DIR}
- sudo rm -rf ${OUTPUT_DIR}
- mkdir -p ${OUTPUT_DIR}
# We first include the paths we want to keep, even if we later will be excluding the other things on those paths
- rsync -avm
@@ -141,7 +142,7 @@ build:
--chown=comma:comma
${BUILD_DIR}/ ${OUTPUT_DIR}/
after_script:
# cleanup build dir after doing work
# cleanup build dir after doing work
- find $BUILD_DIR/ -mindepth 1 -delete
artifacts:
paths:
CHANGELOGS.md
+5
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@@ -40,6 +40,11 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
* Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P
* FIXED: Driving Personality:
* Maniac mode now correctly enforced when selected
* UI Updates
* Display Metrics Below Chevron
* NEW❗: Time to Lead Car
* Displays the time to reach the position previously occupied by the lead car
* NEW❗: Display Distance, Speed, and Time to Lead Car simultaneously
* Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL!
sunnypilot - 0.9.7.1 (2024-06-13)
common/params.cc
+2
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@@ -336,6 +336,8 @@ std::unordered_map<std::string, uint32_t> keys = {
{"SunnylinkCache_Users", PERSISTENT},
{"SunnylinkCache_Roles", PERSISTENT},
{"EnableGitlabRunner", PERSISTENT | BACKUP},
{"EnableSunnylinkUploader", PERSISTENT | BACKUP},
// PFEIFER - MAPD {{
{"MapdVersion", PERSISTENT},
release/release_files.py
+2
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@@ -88,6 +88,8 @@ sunnypilot_blacklist = [
"codecov.yml",
"conftest.py",
"poetry.lock",
".git-crypt/",
".venv",
]
# Merge the blacklists
selfdrive/car/__init__.py
+22 -4
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@@ -43,10 +43,28 @@ def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, ca
return events
def create_mads_event(mads_event_lock: bool) -> capnp.lib.capnp._DynamicStructBuilder:
be = car.CarState.ButtonEvent(pressed=mads_event_lock)
be.type = ButtonType.altButton1
return be
class ButtonEvents:
def __init__(self) -> None:
self.is_mads: bool = False
@staticmethod
def create_cancel_event(long_enabled: bool, prev_long_enabled: bool) -> list[capnp.lib.capnp._DynamicStructBuilder]:
events: list[capnp.lib.capnp._DynamicStructBuilder] = []
if not long_enabled and prev_long_enabled:
events.append(car.CarState.ButtonEvent(pressed=True,
type=ButtonType.cancel))
return events
def create_mads_event(self, mads_enabled: bool, prev_mads_enabled: bool) -> list[capnp.lib.capnp._DynamicStructBuilder]:
events: list[capnp.lib.capnp._DynamicStructBuilder] = []
mads_changed = prev_mads_enabled != mads_enabled
if (mads_changed and not self.is_mads) or (not mads_changed and self.is_mads):
events.append(car.CarState.ButtonEvent(pressed=mads_changed, type=ButtonType.altButton1))
self.is_mads = not self.is_mads
return events
def gen_empty_fingerprint():
selfdrive/car/chrysler/carcontroller.py
+8 -4
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@@ -1,3 +1,5 @@
from cereal import car
import cereal.messaging as messaging
from common.conversions import Conversions as CV
from opendbc.can.packer import CANPacker
@@ -9,7 +11,7 @@ from openpilot.selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControl
from openpilot.selfdrive.car.interfaces import CarControllerBase, FORWARD_GEARS
from openpilot.selfdrive.controls.lib.drive_helpers import FCA_V_CRUISE_MIN
BUTTONS_STATES = ["accelCruise", "decelCruise", "cancel", "resumeCruise"]
ButtonType = car.CarState.ButtonEvent.Type
class CarController(CarControllerBase):
@@ -104,7 +106,7 @@ class CarController(CarControllerBase):
self.last_button_frame = CS.button_counter
if ram_cars:
if CS.buttonStates["cancel"]:
if any(b.type == ButtonType.cancel for b in CS.out.buttonEvents):
can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, cancel=True))
else:
can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP,
@@ -189,8 +191,10 @@ class CarController(CarControllerBase):
# multikyd methods, sunnyhaibin logic
def get_cruise_buttons_status(self, CS):
if not CS.out.cruiseState.enabled or any(CS.buttonStates[button_state] for button_state in BUTTONS_STATES):
self.timer = 40
if not CS.out.cruiseState.enabled:
for be in CS.out.buttonEvents:
if be.type in (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.resumeCruise) and be.pressed:
self.timer = 40
elif self.timer:
self.timer -= 1
else:
selfdrive/car/chrysler/carstate.py
+12 -9
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@@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS, BUTTON_STATES
from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS, BUTTONS
class CarState(CarStateBase):
@@ -29,8 +29,7 @@ class CarState(CarStateBase):
self.lkas_heartbit = None
self.lkas_disabled = False
self.buttonStates = BUTTON_STATES.copy()
self.buttonStatesPrev = BUTTON_STATES.copy()
self.button_states = {button.event_type: False for button in BUTTONS}
def update(self, cp, cp_cam):
@@ -41,7 +40,6 @@ class CarState(CarStateBase):
self.prev_mads_enabled = self.mads_enabled
self.prev_lkas_enabled = self.lkas_enabled
self.buttonStatesPrev = self.buttonStates.copy()
# lock info
ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
@@ -76,6 +74,16 @@ class CarState(CarStateBase):
unit=1,
)
# Buttons
for button in BUTTONS:
state = (cp.vl[button.can_addr][button.can_msg] in button.values)
if self.button_states[button.event_type] != state:
event = car.CarState.ButtonEvent.new_message()
event.type = button.event_type
event.pressed = state
self.button_events.append(event)
self.button_states[button.event_type] = state
# button presses
ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_stalk(200, cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1,
cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2)
@@ -116,11 +124,6 @@ class CarState(CarStateBase):
ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
self.buttonStates["accelCruise"] = bool(cp.vl["CRUISE_BUTTONS"]["ACC_Accel"])
self.buttonStates["decelCruise"] = bool(cp.vl["CRUISE_BUTTONS"]["ACC_Decel"])
self.buttonStates["cancel"] = bool(cp.vl["CRUISE_BUTTONS"]["ACC_Cancel"])
self.buttonStates["resumeCruise"] = bool(cp.vl["CRUISE_BUTTONS"]["ACC_Resume"])
self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
self.cruise_buttons = cp.vl["CRUISE_BUTTONS"]
selfdrive/car/chrysler/interface.py
+9 -26
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@@ -1,8 +1,8 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerFlagsSP, BUTTON_STATES
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerFlagsSP
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
@@ -13,7 +13,6 @@ GearShifter = car.CarState.GearShifter
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.buttonStatesPrev = BUTTON_STATES.copy()
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -94,19 +93,12 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
self.sp_update_params()
buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
for button in self.CS.buttonStates:
if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
be = car.CarState.ButtonEvent.new_message()
be.type = button
be.pressed = self.CS.buttonStates[button]
buttonEvents.append(be)
self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
buttonEvents, c.vCruise,
self.CS.button_events, c.vCruise,
enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.resumeCruise) if not self.CP.pcmCruiseSpeed else
(ButtonType.accelCruise, ButtonType.decelCruise),
resume_button=(ButtonType.resumeCruise,) if not self.CP.pcmCruiseSpeed else
@@ -125,7 +117,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS)
if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
if any(b.type == ButtonType.cancel for b in buttonEvents):
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if self.get_sp_pedal_disengage(ret):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -143,17 +135,10 @@ class CarInterface(CarInterfaceBase):
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = [
*self.CS.button_events,
*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON
]
# events
events = self.create_common_events(ret, c, extra_gears=[car.CarState.GearShifter.low], pcm_enable=False)
@@ -180,6 +165,4 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
self.buttonStatesPrev = self.CS.buttonStates.copy()
return ret
selfdrive/car/chrysler/values.py
+8 -6
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@@ -1,3 +1,4 @@
from collections import namedtuple
from enum import IntFlag
from dataclasses import dataclass, field
@@ -8,6 +9,7 @@ from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarPar
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
Ecu = car.CarParams.Ecu
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
class ChryslerFlags(IntFlag):
@@ -113,12 +115,12 @@ class CarControllerParams:
self.STEER_MAX = 261 # higher than this faults the EPS
BUTTON_STATES = {
"accelCruise": False,
"decelCruise": False,
"cancel": False,
"resumeCruise": False,
}
BUTTONS = [
Button(car.CarState.ButtonEvent.Type.accelCruise, "CRUISE_BUTTONS", "ACC_Accel", [1]),
Button(car.CarState.ButtonEvent.Type.decelCruise, "CRUISE_BUTTONS", "ACC_Decel", [1]),
Button(car.CarState.ButtonEvent.Type.cancel, "CRUISE_BUTTONS", "ACC_Cancel", [1]),
Button(car.CarState.ButtonEvent.Type.resumeCruise, "CRUISE_BUTTONS", "ACC_Resume", [1]),
]
STEER_THRESHOLD = 120
selfdrive/car/ford/carstate.py
+13 -11
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@@ -3,7 +3,7 @@ from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.ford.fordcan import CanBus
from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags, BUTTON_STATES
from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags, BUTTONS
from openpilot.selfdrive.car.interfaces import CarStateBase
GearShifter = car.CarState.GearShifter
@@ -24,15 +24,14 @@ class CarState(CarStateBase):
self.lkas_enabled = None
self.prev_lkas_enabled = None
self.buttonStates = BUTTON_STATES.copy()
self.buttonStatesPrev = BUTTON_STATES.copy()
self.button_states = {button.event_type: False for button in BUTTONS}
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
self.prev_mads_enabled = self.mads_enabled
self.prev_lkas_enabled = self.lkas_enabled
self.buttonStatesPrev = self.buttonStates.copy()
# Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
# The vehicle usually recovers out of this state within a minute of normal driving
@@ -87,6 +86,16 @@ class CarState(CarStateBase):
else:
ret.gearShifter = GearShifter.drive
# Buttons
for button in BUTTONS:
state = (cp.vl[button.can_addr][button.can_msg] in button.values)
if self.button_states[button.event_type] != state:
event = car.CarState.ButtonEvent.new_message()
event.type = button.event_type
event.pressed = state
self.button_events.append(event)
self.button_states[button.event_type] = state
# safety
ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"])
ret.stockAeb = bool(cp_cam.vl["ACCDATA_2"]["CmbbBrkDecel_B_Rq"])
@@ -112,13 +121,6 @@ class CarState(CarStateBase):
self.lkas_enabled = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
self.buttonStates["accelCruise"] = bool(cp.vl["Steering_Data_FD1"]["CcAslButtnSetIncPress"])
self.buttonStates["decelCruise"] = bool(cp.vl["Steering_Data_FD1"]["CcAslButtnSetDecPress"])
self.buttonStates["cancel"] = bool(cp.vl["Steering_Data_FD1"]["CcAslButtnCnclPress"])
self.buttonStates["setCruise"] = bool(cp.vl["Steering_Data_FD1"]["CcAslButtnSetPress"])
self.buttonStates["resumeCruise"] = bool(cp.vl["Steering_Data_FD1"]["CcAsllButtnResPress"])
self.buttonStates["gapAdjustCruise"] = bool(cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"])
# Stock steering buttons so that we can passthru blinkers etc.
self.buttons_stock_values = cp.vl["Steering_Data_FD1"]
# Stock values from IPMA so that we can retain some stock functionality
selfdrive/car/ford/interface.py
+9 -27
View File
@@ -1,9 +1,9 @@
from cereal import car
from panda import Panda
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.ford.fordcan import CanBus
from openpilot.selfdrive.car.ford.values import Ecu, FordFlags, BUTTON_STATES
from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
@@ -15,8 +15,6 @@ class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.buttonStatesPrev = BUTTON_STATES.copy()
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "ford"
@@ -76,19 +74,12 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
self.sp_update_params()
buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
for button in self.CS.buttonStates:
if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
be = car.CarState.ButtonEvent.new_message()
be.type = button
be.pressed = self.CS.buttonStates[button]
buttonEvents.append(be)
self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
buttonEvents, c.vCruise)
self.CS.button_events, c.vCruise)
if ret.cruiseState.available:
if self.enable_mads:
@@ -101,7 +92,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = False
if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
if any(b.type == ButtonType.cancel for b in buttonEvents):
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if self.get_sp_pedal_disengage(ret):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -114,16 +105,10 @@ class CarInterface(CarInterfaceBase):
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = [
*self.CS.button_events,
*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON
]
events = self.create_common_events(ret, c, extra_gears=[GearShifter.manumatic], pcm_enable=False)
@@ -134,7 +119,4 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
# update previous car states
self.buttonStatesPrev = self.CS.buttonStates.copy()
return ret
selfdrive/car/ford/values.py
+11 -10
View File
@@ -1,5 +1,6 @@
import copy
import re
from collections import namedtuple
from dataclasses import dataclass, field, replace
from enum import Enum, IntFlag
@@ -11,6 +12,7 @@ from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, Ca
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
Ecu = car.CarParams.Ecu
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
class CarControllerParams:
@@ -46,16 +48,6 @@ class FordFlags(IntFlag):
CANFD = 1
BUTTON_STATES = {
"accelCruise": False,
"decelCruise": False,
"cancel": False,
"setCruise": False,
"resumeCruise": False,
"gapAdjustCruise": False
}
class RADAR:
DELPHI_ESR = 'ford_fusion_2018_adas'
DELPHI_MRR = 'FORD_CADS'
@@ -154,6 +146,15 @@ class CAR(Platforms):
)
BUTTONS = [
Button(car.CarState.ButtonEvent.Type.accelCruise, "Steering_Data_FD1", "CcAslButtnSetIncPress", [1]),
Button(car.CarState.ButtonEvent.Type.decelCruise, "Steering_Data_FD1", "CcAslButtnSetDecPress", [1]),
Button(car.CarState.ButtonEvent.Type.cancel, "Steering_Data_FD1", "CcAslButtnCnclPress", [1]),
Button(car.CarState.ButtonEvent.Type.setCruise, "Steering_Data_FD1", "CcAslButtnSetPress", [1]),
Button(car.CarState.ButtonEvent.Type.resumeCruise, "Steering_Data_FD1", "CcAsllButtnResPress", [1]),
]
# FW response contains a combined software and part number
# A-Z except no I, O or W
# e.g. NZ6A-14C204-AAA
selfdrive/car/gm/interface.py
+9 -17
View File
@@ -6,7 +6,7 @@ from panda import Panda
from openpilot.common.basedir import BASEDIR
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
@@ -206,12 +206,11 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
self.sp_update_params()
buttonEvents = []
distance_button = 0
# Don't add event if transitioning from INIT, unless it's to an actual button
if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
buttonEvents = [
self.CS.button_events = [
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
unpressed_btn=CruiseButtons.UNPRESS),
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
@@ -222,11 +221,11 @@ class CarInterface(CarInterfaceBase):
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
if not self.CP.pcmCruise:
if any(b.type == ButtonType.accelCruise and b.pressed for b in buttonEvents):
if any(b.type == ButtonType.accelCruise and b.pressed for b in self.CS.button_events):
self.CS.accEnabled = True
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
buttonEvents, c.vCruise)
self.CS.button_events, c.vCruise)
if ret.cruiseState.available:
if self.enable_mads:
@@ -239,7 +238,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = False
if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
if any(b.type == ButtonType.cancel for b in buttonEvents):
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if self.get_sp_pedal_disengage(ret):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -252,17 +251,10 @@ class CarInterface(CarInterfaceBase):
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = [
*self.CS.button_events,
*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON
]
# The ECM allows enabling on falling edge of set, but only rising edge of resume
events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low,
selfdrive/car/honda/interface.py
+7 -4
View File
@@ -268,7 +268,7 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
self.sp_update_params()
buttonEvents = [
self.CS.button_events = [
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
*create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
]
@@ -276,7 +276,7 @@ class CarInterface(CarInterfaceBase):
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
buttonEvents, c.vCruise)
self.CS.button_events, c.vCruise)
if ret.cruiseState.available:
if self.enable_mads:
@@ -289,7 +289,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = False
if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
if any(b.type == ButtonType.cancel for b in buttonEvents):
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if self.get_sp_pedal_disengage(ret):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -304,7 +304,10 @@ class CarInterface(CarInterfaceBase):
min_enable_speed_pcm=(self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed),
gap_button=(self.CS.cruise_setting == 3))
ret.buttonEvents = buttonEvents
ret.buttonEvents = [
*self.CS.button_events,
*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON
]
# events
events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False)
selfdrive/car/hyundai/interface.py
+8 -15
View File
@@ -7,7 +7,7 @@ from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP,
CANFD_UNSUPPORTED_LONGITUDINAL_CAR, NON_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
UNSUPPORTED_LONGITUDINAL_CAR, Buttons
from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.disable_ecu import disable_ecu
@@ -207,10 +207,10 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
self.sp_update_params()
buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
self.CS.button_events = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
buttonEvents, c.vCruise)
self.CS.button_events, c.vCruise)
self.CS.mads_enabled = False if not self.mads_main_toggle else self.CS.mads_enabled
@@ -233,7 +233,7 @@ class CarInterface(CarInterfaceBase):
if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
if not self.CP.pcmCruise:
if any(b.type == ButtonType.cancel for b in buttonEvents):
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if not self.CP.pcmCruiseSpeed:
if not ret.cruiseState.enabled:
@@ -244,17 +244,10 @@ class CarInterface(CarInterfaceBase):
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_buttons[-1] == 3))
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = [
*self.CS.button_events,
*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON
]
# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
selfdrive/car/interfaces.py
+7 -1
View File
@@ -1,3 +1,4 @@
import capnp
import json
import os
import numpy as np
@@ -17,7 +18,7 @@ from openpilot.common.simple_kalman import KF1D, get_kalman_gain
from openpilot.common.numpy_fast import clip
from openpilot.common.params import Params
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG, ButtonEvents
from openpilot.selfdrive.car.values import PLATFORMS
from openpilot.selfdrive.controls.lib.desire_helper import get_min_lateral_speed
from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, get_friction
@@ -253,6 +254,7 @@ class CarInterfaceBase(ABC):
self.last_mads_init = 0.
self.madsEnabledInit = False
self.madsEnabledInitPrev = False
self.button_events = ButtonEvents()
self.lat_torque_nn_model = None
eps_firmware = str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), ""))
@@ -425,6 +427,8 @@ class CarInterfaceBase(ABC):
if cp is not None:
cp.update_strings(can_strings)
self.CS.button_events = []
# get CarState
ret = self._update(c)
@@ -780,6 +784,8 @@ class CarStateBase(ABC):
self.prev_mads_enabled = False
self.control_initialized = False
self.button_events: list[capnp.lib.capnp._DynamicStructBuilder] = []
Q = [[0.0, 0.0], [0.0, 100.0]]
R = 0.3
A = [[1.0, DT_CTRL], [0.0, 1.0]]
selfdrive/car/mazda/carcontroller.py
+5 -4
View File
@@ -11,8 +11,7 @@ from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons
from openpilot.selfdrive.controls.lib.drive_helpers import MAZDA_V_CRUISE_MIN
VisualAlert = car.CarControl.HUDControl.VisualAlert
BUTTONS_STATES = ["accelCruise", "decelCruise", "cancel", "resumeCruise"]
ButtonType = car.CarState.ButtonEvent.Type
class CarController(CarControllerBase):
@@ -141,8 +140,10 @@ class CarController(CarControllerBase):
# multikyd methods, sunnyhaibin logic
def get_cruise_buttons_status(self, CS):
if not CS.out.cruiseState.enabled:
if any(CS.buttonStates[button_state] for button_state in BUTTONS_STATES):
self.timer = 40
for be in CS.out.buttonEvents:
if be.type in (ButtonType.accelCruise, ButtonType.resumeCruise,
ButtonType.decelCruise, ButtonType.setCruise) and be.pressed:
self.timer = 40
elif self.timer:
self.timer -= 1
else:
selfdrive/car/mazda/carstate.py
+12 -9
View File
@@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags, BUTTON_STATES
from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags, BUTTONS
class CarState(CarStateBase):
def __init__(self, CP):
@@ -24,8 +24,7 @@ class CarState(CarStateBase):
self.lkas_enabled = False
self.prev_lkas_enabled = False
self.buttonStates = BUTTON_STATES.copy()
self.buttonStatesPrev = BUTTON_STATES.copy()
self.button_states = {button.event_type: False for button in BUTTONS}
def update(self, cp, cp_cam):
@@ -36,7 +35,6 @@ class CarState(CarStateBase):
self.prev_mads_enabled = self.mads_enabled
self.prev_lkas_enabled = self.lkas_enabled
self.buttonStatesPrev = self.buttonStates.copy()
ret.wheelSpeeds = self.get_wheel_speeds(
cp.vl["WHEEL_SPEEDS"]["FL"],
@@ -56,6 +54,16 @@ class CarState(CarStateBase):
can_gear = int(cp.vl["GEAR"]["GEAR"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
# Buttons
for button in BUTTONS:
state = (cp.vl[button.can_addr][button.can_msg] in button.values)
if self.button_states[button.event_type] != state:
event = car.CarState.ButtonEvent.new_message()
event.type = button.event_type
event.pressed = state
self.button_events.append(event)
self.button_states[button.event_type] = state
ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"])
ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS_STATUS"] != 0
ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS_STATUS"] != 0
@@ -114,11 +122,6 @@ class CarState(CarStateBase):
self.acc_active_last = ret.cruiseState.enabled
self.buttonStates["accelCruise"] = bool(cp.vl["CRZ_BTNS"]["SET_P"])
self.buttonStates["decelCruise"] = bool(cp.vl["CRZ_BTNS"]["SET_M"])
self.buttonStates["cancel"] = bool(cp.vl["CRZ_BTNS"]["CAN_OFF"])
self.buttonStates["resumeCruise"] = bool(cp.vl["CRZ_BTNS"]["RES"])
self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
# camera signals
selfdrive/car/mazda/interface.py
+12 -26
View File
@@ -1,8 +1,8 @@
#!/usr/bin/env python3
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS, BUTTON_STATES
from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
@@ -12,7 +12,6 @@ GearShifter = car.CarState.GearShifter
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.buttonStatesPrev = BUTTON_STATES.copy()
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -41,19 +40,15 @@ class CarInterface(CarInterfaceBase):
self.sp_update_params()
# TODO: add button types for inc and dec
buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
for button in self.CS.buttonStates:
if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
be = car.CarState.ButtonEvent.new_message()
be.type = button
be.pressed = self.CS.buttonStates[button]
buttonEvents.append(be)
self.CS.button_events = [
*self.CS.button_events,
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
]
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
buttonEvents, c.vCruise)
self.CS.button_events, c.vCruise)
if ret.cruiseState.available:
if self.enable_mads:
@@ -66,7 +61,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = False
if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
if any(b.type == ButtonType.cancel for b in buttonEvents):
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if self.get_sp_pedal_disengage(ret):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -79,17 +74,10 @@ class CarInterface(CarInterfaceBase):
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = [
*self.CS.button_events,
*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON
]
# events
events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
@@ -108,6 +96,4 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
self.buttonStatesPrev = self.CS.buttonStates.copy()
return ret
selfdrive/car/mazda/values.py
+10 -8
View File
@@ -1,3 +1,4 @@
from collections import namedtuple
from dataclasses import dataclass, field
from enum import IntFlag
@@ -8,6 +9,7 @@ from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarPar
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
# Steer torque limits
@@ -26,14 +28,6 @@ class CarControllerParams:
pass
BUTTON_STATES = {
"accelCruise": False,
"decelCruise": False,
"cancel": False,
"resumeCruise": False,
}
@dataclass
class MazdaCarDocs(CarDocs):
package: str = "All"
@@ -98,6 +92,14 @@ class Buttons:
CANCEL = 4
BUTTONS = [
Button(car.CarState.ButtonEvent.Type.accelCruise, "CRZ_BTNS", "SET_P", [1]),
Button(car.CarState.ButtonEvent.Type.decelCruise, "CRZ_BTNS", "SET_M", [1]),
Button(car.CarState.ButtonEvent.Type.cancel, "CRZ_BTNS", "CAN_OFF", [1]),
Button(car.CarState.ButtonEvent.Type.resumeCruise, "CRZ_BTNS", "RES", [1]),
]
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
# TODO: check data to ensure ABS does not skip ISO-TP frames on bus 0
selfdrive/car/nissan/interface.py
+7 -20
View File
@@ -1,6 +1,6 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.nissan.values import CAR
@@ -34,7 +34,7 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
self.sp_update_params()
buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
@@ -53,24 +53,11 @@ class CarInterface(CarInterfaceBase):
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
# CANCEL
if self.CS.out.cruiseState.enabled and not ret.cruiseState.enabled:
be = car.CarState.ButtonEvent.new_message()
be.pressed = True
be.type = ButtonType.cancel
buttonEvents.append(be)
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = [
*self.CS.button_events,
*self.button_events.create_cancel_event(ret.cruiseState.enabled, self.CS.out.cruiseState.enabled),
*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON
]
events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
pcm_enable=False)
selfdrive/car/subaru/interface.py
+6 -21
View File
@@ -1,6 +1,6 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config, create_mads_event
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.disable_ecu import disable_ecu
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags, SubaruFlagsSP
@@ -118,8 +118,6 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
self.sp_update_params()
buttonEvents = []
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
if ret.cruiseState.available:
@@ -145,24 +143,11 @@ class CarInterface(CarInterfaceBase):
ret, self.CS = self.get_sp_common_state(ret, self.CS)
# CANCEL
if self.CS.out.cruiseState.enabled and not ret.cruiseState.enabled:
be = car.CarState.ButtonEvent.new_message()
be.pressed = True
be.type = ButtonType.cancel
buttonEvents.append(be)
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = [
*self.CS.button_events,
*self.button_events.create_cancel_event(ret.cruiseState.enabled, self.CS.out.cruiseState.enabled),
*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON
]
events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False)
selfdrive/car/toyota/interface.py
+7 -21
View File
@@ -5,7 +5,7 @@ from panda import Panda
from panda.python import uds
from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, ToyotaFlagsSP, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.disable_ecu import disable_ecu
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -212,11 +212,10 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
self.sp_update_params()
buttonEvents = []
distance_button = 0
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
distance_button = self.CS.distance_button
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
@@ -245,24 +244,11 @@ class CarInterface(CarInterfaceBase):
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
# CANCEL
if self.CS.out.cruiseState.enabled and not ret.cruiseState.enabled:
be = car.CarState.ButtonEvent.new_message()
be.pressed = True
be.type = ButtonType.cancel
buttonEvents.append(be)
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = [
*self.CS.button_events,
*self.button_events.create_cancel_event(ret.cruiseState.enabled, self.CS.out.cruiseState.enabled),
*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON
]
# events
events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
selfdrive/car/volkswagen/carstate.py
+3 -23
View File
@@ -4,7 +4,7 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
CarControllerParams, VolkswagenFlags, BUTTON_STATES, VolkswagenFlagsSP
CarControllerParams, VolkswagenFlags, VolkswagenFlagsSP
class CarState(CarStateBase):
@@ -17,8 +17,6 @@ class CarState(CarStateBase):
self.esp_hold_confirmation = False
self.upscale_lead_car_signal = False
self.eps_stock_values = False
self.buttonStates = BUTTON_STATES.copy()
self.buttonStatesPrev = BUTTON_STATES.copy()
def create_button_events(self, pt_cp, buttons):
button_events = []
@@ -41,7 +39,6 @@ class CarState(CarStateBase):
ret = car.CarState.new_message()
self.prev_mads_enabled = self.mads_enabled
self.buttonStatesPrev = self.buttonStates.copy()
# Update vehicle speed and acceleration from ABS wheel speeds.
ret.wheelSpeeds = self.get_wheel_speeds(
@@ -150,18 +147,10 @@ class CarState(CarStateBase):
if ret.cruiseState.speed > 90:
ret.cruiseState.speed = 0
# Update control button states for turn signals and ACC controls.
self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Hoch"])
self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Runter"])
self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Abbrechen"])
self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Setzen"])
self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Wiederaufnahme"])
self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"])
# Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
ret.leftBlinker = ret.leftBlinkerOn = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
ret.rightBlinker = ret.rightBlinkerOn = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
self.button_events = self.create_button_events(pt_cp, self.CCP.BUTTONS)
self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
# Additional safety checks performed in CarInterface.
@@ -177,7 +166,6 @@ class CarState(CarStateBase):
ret = car.CarState.new_message()
self.prev_mads_enabled = self.mads_enabled
self.buttonStatesPrev = self.buttonStates.copy()
# Update vehicle speed and acceleration from ABS wheel speeds.
ret.wheelSpeeds = self.get_wheel_speeds(
@@ -265,18 +253,10 @@ class CarState(CarStateBase):
if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint
ret.cruiseState.speed = 0
# Update control button states for turn signals and ACC controls.
self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Up_kurz"])
self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Down_kurz"])
self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Abbrechen"])
self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Neu_Setzen"])
self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Recall"])
self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Zeitluecke"])
# Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_stalk(300, pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_li"],
pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_re"])
ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
self.button_events = self.create_button_events(pt_cp, self.CCP.BUTTONS)
self.gra_stock_values = pt_cp.vl["GRA_Neu"]
# Additional safety checks performed in CarInterface.
selfdrive/car/volkswagen/interface.py
+10 -33
View File
@@ -1,10 +1,10 @@
from cereal import car
from panda import Panda
from openpilot.common.params import Params
from openpilot.selfdrive.car import get_safety_config, create_mads_event
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, CarControllerParams, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags, \
BUTTON_STATES, VolkswagenFlagsSP
VolkswagenFlagsSP
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
@@ -21,8 +21,6 @@ class CarInterface(CarInterfaceBase):
self.ext_bus = CANBUS.cam
self.cp_ext = self.cp_cam
self.buttonStatesPrev = BUTTON_STATES.copy()
@staticmethod
def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
ret.carName = "volkswagen"
@@ -117,21 +115,10 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
self.sp_update_params()
buttonEvents = []
# Check for and process state-change events (button press or release) from
# the turn stalk switch or ACC steering wheel/control stalk buttons.
for button in self.CS.buttonStates:
if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
be = car.CarState.ButtonEvent.new_message()
be.type = button
be.pressed = self.CS.buttonStates[button]
buttonEvents.append(be)
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
buttonEvents, c.vCruise,
self.CS.button_events, c.vCruise,
enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
if ret.cruiseState.available:
@@ -144,7 +131,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS)
if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
if any(b.type == ButtonType.cancel for b in buttonEvents):
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if self.get_sp_pedal_disengage(ret):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -155,19 +142,13 @@ class CarInterface(CarInterfaceBase):
self.CS.accEnabled = False
self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.buttonStates["gapAdjustCruise"]))
ret, self.CS = self.get_sp_common_state(ret, self.CS,
gap_button=any(b.type == ButtonType.gapAdjustCruise and b.pressed for b in self.CS.button_events))
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = [
*self.CS.button_events,
*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON
]
events = self.create_common_events(ret, c, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
pcm_enable=False,
@@ -199,8 +180,4 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
# update previous car states
self.buttonStatesPrev = self.CS.buttonStates.copy()
return ret
selfdrive/car/volkswagen/values.py
-10
View File
@@ -147,16 +147,6 @@ class VolkswagenFlagsSP(IntFlag):
SP_CC_ONLY_NO_RADAR = 2
BUTTON_STATES = {
"accelCruise": False,
"decelCruise": False,
"cancel": False,
"setCruise": False,
"resumeCruise": False,
"gapAdjustCruise": False
}
@dataclass
class VolkswagenMQBPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None))
selfdrive/ui/qt/offroad/sunnypilot/visuals_settings.cc
+2 -2
View File
@@ -82,12 +82,12 @@ VisualsPanel::VisualsPanel(QWidget *parent) : ListWidget(parent) {
dev_ui_settings->showDescription();
// Visuals: Display Metrics above Chevron
std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Distance\nSpeed")};
std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
chevron_info_settings = new ButtonParamControl(
"ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control)."),
"../assets/offroad/icon_blank.png",
chevron_info_settings_texts,
340
300
);
chevron_info_settings->showDescription();
selfdrive/ui/qt/onroad/annotated_camera.cc
+11 -3
View File
@@ -1525,20 +1525,28 @@ void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState
painter.drawPolygon(chevron, std::size(chevron));
if (num == 0) { // Display metrics to the 0th lead car
int chevron_types = 2;
const int chevron_types = 3;
const int chevron_all = chevron_types + 1; // All metrics
QStringList chevron_text[chevron_types];
int position;
float val;
if (chevron_data == 1 || chevron_data == 3) {
if (chevron_data == 1 || chevron_data == chevron_all) {
position = 0;
val = std::max(0.0f, d_rel);
chevron_text[position].append(QString::number(val,'f', 0) + " " + "m");
}
if (chevron_data == 2 || chevron_data == 3) {
if (chevron_data == 2 || chevron_data == chevron_all) {
position = (chevron_data == 2) ? 0 : 1;
val = std::max(0.0f, (v_rel + v_ego) * (is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH)));
chevron_text[position].append(QString::number(val,'f', 0) + " " + (is_metric ? "km/h" : "mph"));
}
if (chevron_data == 3 || chevron_data == chevron_all) {
position = (chevron_data == 3) ? 0 : 2;
val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
QString ttc_str = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
chevron_text[position].append(ttc_str);
}
float str_w = 200; // Width of the text box, might need adjustment
float str_h = 50; // Height of the text box, adjust as necessary
system/manager/manager.py
+2
View File
@@ -117,6 +117,8 @@ def manager_init() -> None:
("CustomDrivingModel", "0"),
("DrivingModelGeneration", "4"),
("LastSunnylinkPingTime", "0"),
("EnableGitlabRunner", "0"),
("EnableSunnylinkUploader", "0"),
]
if not PC:
default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8')))
system/manager/process_config.py
+12 -13
View File
@@ -6,7 +6,7 @@ from openpilot.system.hardware import PC, TICI
from openpilot.selfdrive.modeld.custom_model_metadata import CustomModelMetadata, ModelCapabilities
from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
from openpilot.system.mapd_manager import MAPD_PATH, COMMON_DIR
from openpilot.system.manager.sunnylink import sunnylink_need_register, sunnylink_ready
from openpilot.system.manager.sunnylink import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -44,6 +44,10 @@ def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
def only_offroad(started, params, CP: car.CarParams) -> bool:
return not started
def use_gitlab_runner(started, params, CP: car.CarParams) -> bool:
return (not PC and params.get_bool("EnableGitlabRunner") and only_offroad(started, params, CP)
and os.path.exists("./gitlab_runner.sh"))
def model_use_nav(started, params, CP: car.CarParams) -> bool:
custom_model_metadata = CustomModelMetadata(params=params, init_only=True)
return started and custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.NoO
@@ -56,6 +60,10 @@ def sunnylink_need_register_shim(started, params, CP: car.CarParams) -> bool:
"""Shim for sunnylink_need_register to match the process manager signature."""
return sunnylink_need_register(params)
def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
"""Shim for use_sunnylink_uploader to match the process manager signature."""
return use_sunnylink_uploader(params) and os.path.exists("../loggerd/sunnylink_uploader.py")
procs = [
DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
@@ -112,21 +120,12 @@ procs = [
PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
# Sunnypilot devs
NativeProcess("gitlab_runner_start", "system/manager", ["./gitlab_runner.sh", "start"], use_gitlab_runner, sigkill=False),
# Sunnylink <3
DaemonProcess("manage_sunnylinkd", "system.athena.manage_sunnylinkd", "SunnylinkdPid"),
PythonProcess("sunnylink_registration", "system.manager.sunnylink", sunnylink_need_register_shim),
PythonProcess("sunnylink_uploader", "system.loggerd.sunnylink_uploader", use_sunnylink_uploader_shim),
]
if os.path.exists("../loggerd/sunnylink_uploader.py"):
procs += [
PythonProcess("sunnylink_uploader", "system.loggerd.sunnylink_uploader", sunnylink_ready_shim),
]
if os.path.exists("./gitlab_runner.sh") and not PC:
# Only devs!
procs += [
NativeProcess("gitlab_runner_start", "system/manager", ["./gitlab_runner.sh", "start"], only_offroad, sigkill=False),
NativeProcess("gitlab_runner_stop", "system/manager", ["./gitlab_runner.sh", "stop"], only_onroad, sigkill=False)
]
managed_processes = {p.name: p for p in procs}
system/manager/sunnylink.py
+5
View File
@@ -27,6 +27,11 @@ def sunnylink_ready(params=Params()) -> bool:
return is_sunnylink_enabled and is_registered
def use_sunnylink_uploader(params) -> bool:
"""Check if the device is ready to use Sunnylink and the uploader is enabled."""
return sunnylink_ready(params) and params.get_bool("EnableSunnylinkUploader")
def sunnylink_need_register(params=Params()) -> bool:
"""Check if the device needs to be registered with Sunnylink."""
is_sunnylink_enabled, is_registered = get_sunnylink_status(params)