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Merge remote-tracking branch 'commaai/openpilot/master' into sync-20240224

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# Conflicts:
#	cereal
#	opendbc
#	panda
This commit is contained in:
Jason Wen
2024-02-26 16:39:04 -05:00
parent 9aca2536aa 9d1cafd0fc
commit 4124c4593f
53 changed files with 743 additions and 707 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitignore
-1
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@@ -10,7 +10,6 @@ venv/
.overlay_init
.overlay_consistent
.sconsign.dblite
.vscode*
model2.png
a.out
.hypothesis
.pre-commit-config.yaml
+2 -2
View File
@@ -10,7 +10,7 @@ repos:
- id: check-ast
exclude: '^(third_party)/'
- id: check-json
exclude: '.devcontainer/devcontainer.json' # this supports JSON with comments
exclude: '.devcontainer/devcontainer.json|.vscode/' # these support JSON with comments
- id: check-toml
- id: check-xml
- id: check-yaml
@@ -91,7 +91,7 @@ repos:
pass_filenames: false
files: 'selfdrive/ui/translations/*'
- repo: https://github.com/python-poetry/poetry
rev: '1.7.0'
rev: '1.8.0'
hooks:
- id: poetry-check
name: validate poetry lock
.vscode/extensions.json
Vendored
+8
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@@ -0,0 +1,8 @@
{
"recommendations": [
"ms-python.python",
"ms-vscode.cpptools",
"elagil.pre-commit-helper",
"charliermarsh.ruff",
]
}
.vscode/launch.json
Vendored
+47
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@@ -0,0 +1,47 @@
{
"version": "0.2.0",
"inputs": [
{
"id": "python_process",
"type": "pickString",
"description": "Select the process to debug",
"options": [
"selfdrive/controls/controlsd.py",
"selfdrive/navd/navd.py",
"system/timed/timed.py",
"tools/sim/run_bridge.py"
]
},
{
"id": "cpp_process",
"type": "pickString",
"description": "Select the process to debug",
"options": [
"selfdrive/ui/ui"
]
},
{
"id": "args",
"description": "Arguments to pass to the process",
"type": "promptString"
}
],
"configurations": [
{
"name": "Python: openpilot Process",
"type": "debugpy",
"request": "launch",
"program": "${input:python_process}",
"console": "integratedTerminal",
"justMyCode": true,
"args": "${input:args}"
},
{
"name": "C++: openpilot Process",
"type": "cppdbg",
"request": "launch",
"program": "${workspaceFolder}/${input:cpp_process}",
"cwd": "${workspaceFolder}",
}
]
}
.vscode/settings.json
Vendored
+16
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@@ -0,0 +1,16 @@
{
"editor.tabSize": 2,
"editor.insertSpaces": true,
"editor.renderWhitespace": "trailing",
"files.trimTrailingWhitespace": true,
"search.exclude": {
"**/.git": true,
"**/.venv": true,
"**/__pycache__": true
},
"files.exclude": {
"**/.git": true,
"**/.venv": true,
"**/__pycache__": true
}
}
cereal
+1 -1
Submodule cereal updated: b891fcca7a...6f8c147d22
common/file_helpers.py
+1 -1
View File
@@ -23,7 +23,7 @@ class CallbackReader:
@contextlib.contextmanager
def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None,
overwrite: bool = False):
"""Write to a file atomically using a temporary file in the same directory as the destination file."""
dir_name = os.path.dirname(path)
common/prefix.py
+1 -1
View File
@@ -8,7 +8,7 @@ from openpilot.system.hardware.hw import Paths
from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
class OpenpilotPrefix:
def __init__(self, prefix: str | None = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
self.msgq_path = os.path.join('/dev/shm', self.prefix)
self.clean_dirs_on_exit = clean_dirs_on_exit
opendbc
+1 -1
Submodule opendbc updated: e8e8ed7222...3f6e8d1859
panda
+1 -1
Submodule panda updated: 6df6a405c9...aae8ea8ff2
poetry.lock
Generated
+176 -175
View File
@@ -751,63 +751,63 @@ test = ["pytest", "pytest-timeout"]
[[package]]
name = "coverage"
version = "7.4.1"
version = "7.4.3"
description = "Code coverage measurement for Python"
optional = false
python-versions = ">=3.8"
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{file = "pandas-2.2.1.tar.gz", hash = "sha256:0ab90f87093c13f3e8fa45b48ba9f39181046e8f3317d3aadb2fffbb1b978572"},
]
[package.dependencies]
@@ -2905,6 +2905,7 @@ parquet = ["pyarrow (>=10.0.1)"]
performance = ["bottleneck (>=1.3.6)", "numba (>=0.56.4)", "numexpr (>=2.8.4)"]
plot = ["matplotlib (>=3.6.3)"]
postgresql = ["SQLAlchemy (>=2.0.0)", "adbc-driver-postgresql (>=0.8.0)", "psycopg2 (>=2.9.6)"]
pyarrow = ["pyarrow (>=10.0.1)"]
spss = ["pyreadstat (>=1.2.0)"]
sql-other = ["SQLAlchemy (>=2.0.0)", "adbc-driver-postgresql (>=0.8.0)", "adbc-driver-sqlite (>=0.8.0)"]
test = ["hypothesis (>=6.46.1)", "pytest (>=7.3.2)", "pytest-xdist (>=2.2.0)"]
@@ -6468,13 +6469,13 @@ cp2110 = ["hidapi"]
[[package]]
name = "pytest"
version = "8.0.1"
version = "8.0.2"
description = "pytest: simple powerful testing with Python"
optional = false
python-versions = ">=3.8"
files = [
{file = "pytest-8.0.1-py3-none-any.whl", hash = "sha256:3e4f16fe1c0a9dc9d9389161c127c3edc5d810c38d6793042fb81d9f48a59fca"},
{file = "pytest-8.0.1.tar.gz", hash = "sha256:267f6563751877d772019b13aacbe4e860d73fe8f651f28112e9ac37de7513ae"},
{file = "pytest-8.0.2-py3-none-any.whl", hash = "sha256:edfaaef32ce5172d5466b5127b42e0d6d35ebbe4453f0e3505d96afd93f6b096"},
{file = "pytest-8.0.2.tar.gz", hash = "sha256:d4051d623a2e0b7e51960ba963193b09ce6daeb9759a451844a21e4ddedfc1bd"},
]
[package.dependencies]
@@ -6639,12 +6640,12 @@ numpy = ["numpy (>=1.6.0)"]
[[package]]
name = "pytweening"
version = "1.1.0"
description = "A collection of tweening / easing functions."
version = "1.2.0"
description = "A collection of tweening (aka easing) functions."
optional = false
python-versions = "*"
files = [
{file = "pytweening-1.1.0.tar.gz", hash = "sha256:0d8e14af529dd816ad4aa4a86757dfb5fe2fc2897e06f5db60183706a9370828"},
{file = "pytweening-1.2.0.tar.gz", hash = "sha256:243318b7736698066c5f362ec5c2b6434ecf4297c3c8e7caa8abfe6af4cac71b"},
]
[[package]]
@@ -7172,19 +7173,19 @@ test = ["pytest"]
[[package]]
name = "setuptools"
version = "69.1.0"
version = "69.1.1"
description = "Easily download, build, install, upgrade, and uninstall Python packages"
optional = false
python-versions = ">=3.8"
files = [
{file = "setuptools-69.1.0-py3-none-any.whl", hash = "sha256:c054629b81b946d63a9c6e732bc8b2513a7c3ea645f11d0139a2191d735c60c6"},
{file = "setuptools-69.1.0.tar.gz", hash = "sha256:850894c4195f09c4ed30dba56213bf7c3f21d86ed6bdaafb5df5972593bfc401"},
{file = "setuptools-69.1.1-py3-none-any.whl", hash = "sha256:02fa291a0471b3a18b2b2481ed902af520c69e8ae0919c13da936542754b4c56"},
{file = "setuptools-69.1.1.tar.gz", hash = "sha256:5c0806c7d9af348e6dd3777b4f4dbb42c7ad85b190104837488eab9a7c945cf8"},
]
[package.extras]
docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff (>=0.2.1)", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.1)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.2)", "pip (>=19.1)", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff (>=0.2.1)", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.2)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
[[package]]
name = "shapely"
@@ -7619,13 +7620,13 @@ files = [
[[package]]
name = "typing-extensions"
version = "4.9.0"
version = "4.10.0"
description = "Backported and Experimental Type Hints for Python 3.8+"
optional = false
python-versions = ">=3.8"
files = [
{file = "typing_extensions-4.9.0-py3-none-any.whl", hash = "sha256:af72aea155e91adfc61c3ae9e0e342dbc0cba726d6cba4b6c72c1f34e47291cd"},
{file = "typing_extensions-4.9.0.tar.gz", hash = "sha256:23478f88c37f27d76ac8aee6c905017a143b0b1b886c3c9f66bc2fd94f9f5783"},
{file = "typing_extensions-4.10.0-py3-none-any.whl", hash = "sha256:69b1a937c3a517342112fb4c6df7e72fc39a38e7891a5730ed4985b5214b5475"},
{file = "typing_extensions-4.10.0.tar.gz", hash = "sha256:b0abd7c89e8fb96f98db18d86106ff1d90ab692004eb746cf6eda2682f91b3cb"},
]
[[package]]
@@ -7658,13 +7659,13 @@ zstd = ["zstandard (>=0.18.0)"]
[[package]]
name = "virtualenv"
version = "20.25.0"
version = "20.25.1"
description = "Virtual Python Environment builder"
optional = false
python-versions = ">=3.7"
files = [
{file = "virtualenv-20.25.0-py3-none-any.whl", hash = "sha256:4238949c5ffe6876362d9c0180fc6c3a824a7b12b80604eeb8085f2ed7460de3"},
{file = "virtualenv-20.25.0.tar.gz", hash = "sha256:bf51c0d9c7dd63ea8e44086fa1e4fb1093a31e963b86959257378aef020e1f1b"},
{file = "virtualenv-20.25.1-py3-none-any.whl", hash = "sha256:961c026ac520bac5f69acb8ea063e8a4f071bcc9457b9c1f28f6b085c511583a"},
{file = "virtualenv-20.25.1.tar.gz", hash = "sha256:e08e13ecdca7a0bd53798f356d5831434afa5b07b93f0abdf0797b7a06ffe197"},
]
[package.dependencies]
pyproject.toml
+3
View File
@@ -63,6 +63,9 @@ warn_unused_ignores=true
# restrict dynamic typing
warn_return_any=true
# allow implicit optionals for default args
implicit_optional = true
[tool.poetry]
name = "openpilot"
rednose_repo
+1 -1
Submodule rednose_repo updated: 18b91458fd...c5762e8bc6
release/files_common
+2
View File
@@ -23,6 +23,7 @@ common/.gitignore
common/__init__.py
common/*.py
common/*.pyx
common/mock/*
common/transformations/__init__.py
common/transformations/camera.py
@@ -87,6 +88,7 @@ selfdrive/car/docs_definitions.py
selfdrive/car/car_helpers.py
selfdrive/car/fingerprints.py
selfdrive/car/interfaces.py
selfdrive/car/values.py
selfdrive/car/vin.py
selfdrive/car/disable_ecu.py
selfdrive/car/fw_versions.py
scripts/pyupgrade.sh
Executable
+7
View File
@@ -0,0 +1,7 @@
#!/usr/bin/env bash
set -e
pip install --upgrade pyupgrade
git ls-files '*.py' | grep -v 'third_party/' | xargs pyupgrade --py311-plus
selfdrive/athena/athenad.py
+3 -3
View File
@@ -279,7 +279,7 @@ def upload_handler(end_event: threading.Event) -> None:
cloudlog.exception("athena.upload_handler.exception")
def _do_upload(upload_item: UploadItem, callback: Callable | None = None) -> requests.Response:
def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.Response:
path = upload_item.path
compress = False
@@ -328,7 +328,7 @@ def getVersion() -> dict[str, str]:
@dispatcher.add_method
def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str | None = None, place_details: str | None = None) -> dict[str, int]:
def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = None, place_details: str = None) -> dict[str, int]:
destination = {
"latitude": latitude,
"longitude": longitude,
@@ -767,7 +767,7 @@ def backoff(retries: int) -> int:
return random.randrange(0, min(128, int(2 ** retries)))
def main(exit_event: threading.Event | None = None):
def main(exit_event: threading.Event = None):
try:
set_core_affinity([0, 1, 2, 3])
except Exception:
selfdrive/athena/tests/helpers.py
-24
View File
@@ -1,7 +1,5 @@
import http.server
import threading
import socket
from functools import wraps
class MockResponse:
@@ -65,25 +63,3 @@ class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
self.rfile.read(length)
self.send_response(201, "Created")
self.end_headers()
def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None):
@wraps(func)
def inner(*args, **kwargs):
host = '127.0.0.1'
server = http.server.HTTPServer((host, 0), handler)
port = server.server_port
t = threading.Thread(target=server.serve_forever)
t.start()
if setup is not None:
setup(host, port)
try:
return func(*args, f'http://{host}:{port}', **kwargs)
finally:
server.shutdown()
server.server_close()
t.join()
return inner
selfdrive/athena/tests/test_athenad.py
+3 -3
View File
@@ -23,9 +23,9 @@ from openpilot.common.params import Params
from openpilot.common.timeout import Timeout
from openpilot.selfdrive.athena import athenad
from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockApi, EchoSocket, with_http_server
from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket
from openpilot.selfdrive.test.helpers import with_http_server
from openpilot.system.hardware.hw import Paths
from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler
def seed_athena_server(host, port):
@@ -96,7 +96,7 @@ class TestAthenadMethods(unittest.TestCase):
break
@staticmethod
def _create_file(file: str, parent: str | None = None, data: bytes = b'') -> str:
def _create_file(file: str, parent: str = None, data: bytes = b'') -> str:
fn = os.path.join(Paths.log_root() if parent is None else parent, file)
os.makedirs(os.path.dirname(fn), exist_ok=True)
with open(fn, 'wb') as f:
selfdrive/car/__init__.py
+5 -2
View File
@@ -1,6 +1,6 @@
# functions common among cars
from collections import namedtuple
from dataclasses import dataclass
from dataclasses import dataclass, field
from enum import ReprEnum
import capnp
@@ -246,11 +246,14 @@ class CanSignalRateCalculator:
CarInfos = CarInfo | list[CarInfo]
@dataclass
@dataclass(kw_only=True)
class CarSpecs:
mass: float
wheelbase: float
steerRatio: float
centerToFrontRatio: float = field(default=0.5)
minSteerSpeed: float = field(default=0.)
minEnableSpeed: float = field(default=-1.)
@dataclass(order=True)
selfdrive/car/car_helpers.py
+5 -1
View File
@@ -5,6 +5,7 @@ from collections.abc import Callable
from cereal import car
from openpilot.common.params import Params
from openpilot.common.basedir import BASEDIR
from openpilot.selfdrive.car.values import PLATFORMS
from openpilot.system.version import is_comma_remote, is_tested_branch
from openpilot.selfdrive.car.interfaces import get_interface_attr
from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
@@ -189,7 +190,10 @@ def fingerprint(logcan, sendcan, num_pandas):
cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
return car_fingerprint, finger, vin, car_fw, source, exact_match
car_platform = PLATFORMS.get(car_fingerprint, car_fingerprint)
return car_platform, finger, vin, car_fw, source, exact_match
def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
selfdrive/car/docs_definitions.py
+1 -1
View File
@@ -159,7 +159,7 @@ class CarParts:
return copy.deepcopy(self)
@classmethod
def common(cls, add: list[EnumBase] | None = None, remove: list[EnumBase] | None = None):
def common(cls, add: list[EnumBase] = None, remove: list[EnumBase] = None):
p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
return cls(p)
selfdrive/car/ecu_addrs.py
+1 -1
View File
@@ -19,7 +19,7 @@ def make_tester_present_msg(addr, bus, subaddr=None):
return make_can_msg(addr, bytes(dat), bus)
def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int | None = None) -> bool:
def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
# ISO-TP messages are always padded to 8 bytes
# tester present response is always a single frame
dat_offset = 1 if subaddr is not None else 0
selfdrive/car/ford/interface.py
+1 -46
View File
@@ -3,7 +3,7 @@ from panda import Panda
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.ford.fordcan import CanBus
from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
from openpilot.selfdrive.car.ford.values import CANFD_CAR, Ecu
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
TransmissionType = car.CarParams.TransmissionType
@@ -39,51 +39,6 @@ class CarInterface(CarInterfaceBase):
if candidate in CANFD_CAR:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
if candidate == CAR.BRONCO_SPORT_MK1:
ret.wheelbase = 2.67
ret.steerRatio = 17.7
ret.mass = 1625
elif candidate == CAR.ESCAPE_MK4:
ret.wheelbase = 2.71
ret.steerRatio = 16.7
ret.mass = 1750
elif candidate == CAR.EXPLORER_MK6:
ret.wheelbase = 3.025
ret.steerRatio = 16.8
ret.mass = 2050
elif candidate == CAR.F_150_MK14:
# required trim only on SuperCrew
ret.wheelbase = 3.69
ret.steerRatio = 17.0
ret.mass = 2000
elif candidate == CAR.F_150_LIGHTNING_MK1:
# required trim only on SuperCrew
ret.wheelbase = 3.70
ret.steerRatio = 16.9
ret.mass = 2948
elif candidate == CAR.MUSTANG_MACH_E_MK1:
ret.wheelbase = 2.984
ret.steerRatio = 17.0 # guess
ret.mass = 2200
elif candidate == CAR.FOCUS_MK4:
ret.wheelbase = 2.7
ret.steerRatio = 15.0
ret.mass = 1350
elif candidate == CAR.MAVERICK_MK1:
ret.wheelbase = 3.076
ret.steerRatio = 17.0
ret.mass = 1650
else:
raise ValueError(f"Unsupported car: {candidate}")
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
found_ecus = [fw.ecu for fw in car_fw]
if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
selfdrive/car/ford/values.py
+82 -59
View File
@@ -1,9 +1,8 @@
from collections import defaultdict
from dataclasses import dataclass
from enum import Enum, StrEnum
from dataclasses import dataclass, field
from enum import Enum
from cereal import car
from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
Device
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@@ -39,33 +38,11 @@ class CarControllerParams:
pass
class CAR(StrEnum):
BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
F_150_MK14 = "FORD F-150 14TH GEN"
FOCUS_MK4 = "FORD FOCUS 4TH GEN"
MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
F_150_LIGHTNING_MK1 = "FORD F-150 LIGHTNING 1ST GEN"
MUSTANG_MACH_E_MK1 = "FORD MUSTANG MACH-E 1ST GEN"
CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
class RADAR:
DELPHI_ESR = 'ford_fusion_2018_adas'
DELPHI_MRR = 'FORD_CADS'
DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
# F-150 radar is not yet supported
DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None)
DBC[CAR.F_150_LIGHTNING_MK1] = dbc_dict("ford_lincoln_base_pt", None)
DBC[CAR.MUSTANG_MACH_E_MK1] = dbc_dict("ford_lincoln_base_pt", None)
class Footnote(Enum):
FOCUS = CarFootnote(
"Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " +
@@ -86,39 +63,82 @@ class FordCarInfo(CarInfo):
self.car_parts = CarParts([Device.threex, harness])
CAR_INFO: dict[str, CarInfo | list[CarInfo]] = {
CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
CAR.ESCAPE_MK4: [
FordCarInfo("Ford Escape 2020-22"),
FordCarInfo("Ford Escape Hybrid 2020-22"),
FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
],
CAR.EXPLORER_MK6: [
FordCarInfo("Ford Explorer 2020-23"),
FordCarInfo("Ford Explorer Hybrid 2020-23"), # Limited and Platinum only
FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"), # Grand Touring only
],
CAR.F_150_MK14: [
FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
],
CAR.F_150_LIGHTNING_MK1: FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
CAR.MUSTANG_MACH_E_MK1: FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
CAR.FOCUS_MK4: [
FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), # mHEV only
],
CAR.MAVERICK_MK1: [
FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"),
FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
],
}
@dataclass
class FordPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
class CAR(Platforms):
BRONCO_SPORT_MK1 = FordPlatformConfig(
"FORD BRONCO SPORT 1ST GEN",
FordCarInfo("Ford Bronco Sport 2021-22"),
specs=CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
)
ESCAPE_MK4 = FordPlatformConfig(
"FORD ESCAPE 4TH GEN",
[
FordCarInfo("Ford Escape 2020-22"),
FordCarInfo("Ford Escape Hybrid 2020-22"),
FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
],
specs=CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
)
EXPLORER_MK6 = FordPlatformConfig(
"FORD EXPLORER 6TH GEN",
[
FordCarInfo("Ford Explorer 2020-23"),
FordCarInfo("Ford Explorer Hybrid 2020-23"), # Limited and Platinum only
FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"), # Grand Touring only
],
specs=CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
)
F_150_MK14 = FordPlatformConfig(
"FORD F-150 14TH GEN",
[
FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
],
dbc_dict=dbc_dict('ford_lincoln_base_pt', None),
specs=CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
)
F_150_LIGHTNING_MK1 = FordPlatformConfig(
"FORD F-150 LIGHTNING 1ST GEN",
FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
dbc_dict=dbc_dict('ford_lincoln_base_pt', None),
specs=CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
)
FOCUS_MK4 = FordPlatformConfig(
"FORD FOCUS 4TH GEN",
[
FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), # mHEV only
],
specs=CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
)
MAVERICK_MK1 = FordPlatformConfig(
"FORD MAVERICK 1ST GEN",
[
FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"),
FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
],
specs=CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
)
MUSTANG_MACH_E_MK1 = FordPlatformConfig(
"FORD MUSTANG MACH-E 1ST GEN",
FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
dbc_dict=dbc_dict('ford_lincoln_base_pt', None),
specs=CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio
)
CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
@@ -142,3 +162,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
(Ecu.shiftByWire, 0x732, None),
],
)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
selfdrive/car/fw_versions.py
+1 -1
View File
@@ -39,7 +39,7 @@ def is_brand(brand: str, filter_brand: str | None) -> bool:
def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder],
filter_brand: str | None = None) -> dict[AddrType, set[bytes]]:
filter_brand: str = None) -> dict[AddrType, set[bytes]]:
fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set)
for fw in fw_versions:
if is_brand(fw.brand, filter_brand) and not fw.logging:
selfdrive/car/gm/interface.py
-61
View File
@@ -152,11 +152,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
if candidate == CAR.VOLT:
ret.mass = 1607.
ret.wheelbase = 2.69
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
ret.tireStiffnessFactor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
@@ -165,61 +161,20 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.steerActuatorDelay = 0.2
elif candidate == CAR.MALIBU:
ret.mass = 1496.
ret.wheelbase = 2.83
ret.steerRatio = 15.8
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363.
ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 15.7
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG
ret.wheelbase = 2.86
ret.steerRatio = 14.4 # end to end is 13.46
ret.centerToFront = ret.wheelbase * 0.4
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_LACROSSE:
ret.mass = 1712.
ret.wheelbase = 2.91
ret.steerRatio = 15.8
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_REGAL:
ret.mass = 3779. * CV.LB_TO_KG # (3849+3708)/2
ret.wheelbase = 2.83 # 111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.mass = 1601.
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.centerToFront = ret.wheelbase * 0.5
elif candidate == CAR.ESCALADE:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 5653. * CV.LB_TO_KG # (5552+5815)/2
ret.wheelbase = 2.95 # 116 inches in meters
ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.5
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 2739.
ret.wheelbase = 3.302
ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.5
ret.tireStiffnessFactor = 1.0
if candidate == CAR.ESCALADE_ESV:
@@ -231,19 +186,11 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BOLT_EUV:
ret.mass = 1669.
ret.wheelbase = 2.63779
ret.steerRatio = 16.8
ret.centerToFront = ret.wheelbase * 0.4
ret.tireStiffnessFactor = 1.0
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.SILVERADO:
ret.mass = 2450.
ret.wheelbase = 3.75
ret.steerRatio = 16.3
ret.centerToFront = ret.wheelbase * 0.5
ret.tireStiffnessFactor = 1.0
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
# with foot on brake to allow engagement, but this platform only has that check in the camera.
@@ -253,17 +200,9 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.EQUINOX:
ret.mass = 3500. * CV.LB_TO_KG
ret.wheelbase = 2.72
ret.steerRatio = 14.4
ret.centerToFront = ret.wheelbase * 0.4
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.TRAILBLAZER:
ret.mass = 1345.
ret.wheelbase = 2.64
ret.steerRatio = 16.8
ret.centerToFront = ret.wheelbase * 0.4
ret.tireStiffnessFactor = 1.0
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
selfdrive/car/gm/values.py
+88 -45
View File
@@ -1,9 +1,8 @@
from collections import defaultdict
from dataclasses import dataclass
from enum import Enum, StrEnum
from dataclasses import dataclass, field
from enum import Enum
from cereal import car
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@@ -61,23 +60,6 @@ class CarControllerParams:
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
class CAR(StrEnum):
HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
VOLT = "CHEVROLET VOLT PREMIER 2017"
CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
MALIBU = "CHEVROLET MALIBU PREMIER 2017"
ACADIA = "GMC ACADIA DENALI 2018"
BUICK_LACROSSE = "BUICK LACROSSE 2017"
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
ESCALADE = "CADILLAC ESCALADE 2017"
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
ESCALADE_ESV_2019 = "CADILLAC ESCALADE ESV 2019"
BOLT_EUV = "CHEVROLET BOLT EUV 2022"
SILVERADO = "CHEVROLET SILVERADO 1500 2020"
EQUINOX = "CHEVROLET EQUINOX 2019"
TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021"
class Footnote(Enum):
OBD_II = CarFootnote(
'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. ' +
@@ -97,28 +79,88 @@ class GMCarInfo(CarInfo):
self.footnotes.append(Footnote.OBD_II)
CAR_INFO: dict[str, GMCarInfo | list[GMCarInfo]] = {
CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"),
CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
CAR.ESCALADE_ESV_2019: GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
CAR.BOLT_EUV: [
GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
],
CAR.SILVERADO: [
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
],
CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"),
}
@dataclass
class GMPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
class CAR(Platforms):
HOLDEN_ASTRA = GMPlatformConfig(
"HOLDEN ASTRA RS-V BK 2017",
GMCarInfo("Holden Astra 2017"),
specs=CarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
)
VOLT = GMPlatformConfig(
"CHEVROLET VOLT PREMIER 2017",
GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
specs=CarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45),
)
CADILLAC_ATS = GMPlatformConfig(
"CADILLAC ATS Premium Performance 2018",
GMCarInfo("Cadillac ATS Premium Performance 2018"),
specs=CarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
)
MALIBU = GMPlatformConfig(
"CHEVROLET MALIBU PREMIER 2017",
GMCarInfo("Chevrolet Malibu Premier 2017"),
specs=CarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
)
ACADIA = GMPlatformConfig(
"GMC ACADIA DENALI 2018",
GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
specs=CarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
)
BUICK_LACROSSE = GMPlatformConfig(
"BUICK LACROSSE 2017",
GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
specs=CarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
)
BUICK_REGAL = GMPlatformConfig(
"BUICK REGAL ESSENCE 2018",
GMCarInfo("Buick Regal Essence 2018"),
specs=CarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
)
ESCALADE = GMPlatformConfig(
"CADILLAC ESCALADE 2017",
GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
specs=CarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
)
ESCALADE_ESV = GMPlatformConfig(
"CADILLAC ESCALADE ESV 2016",
GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
specs=CarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3),
)
ESCALADE_ESV_2019 = GMPlatformConfig(
"CADILLAC ESCALADE ESV 2019",
GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
specs=ESCALADE_ESV.specs,
)
BOLT_EUV = GMPlatformConfig(
"CHEVROLET BOLT EUV 2022",
[
GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
],
specs=CarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4),
)
SILVERADO = GMPlatformConfig(
"CHEVROLET SILVERADO 1500 2020",
[
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
],
specs=CarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3),
)
EQUINOX = GMPlatformConfig(
"CHEVROLET EQUINOX 2019",
GMCarInfo("Chevrolet Equinox 2019-22"),
specs=CarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
)
TRAILBLAZER = GMPlatformConfig(
"CHEVROLET TRAILBLAZER 2021",
GMCarInfo("Chevrolet Trailblazer 2021-22"),
specs=CarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4),
)
class CruiseButtons:
@@ -180,11 +222,12 @@ FW_QUERY_CONFIG = FwQueryConfig(
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
)
DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
STEER_THRESHOLD = 1.0
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
selfdrive/car/interfaces.py
+7 -3
View File
@@ -14,6 +14,7 @@ from openpilot.common.simple_kalman import KF1D, get_kalman_gain
from openpilot.common.numpy_fast import clip
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import PlatformConfig, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
from openpilot.selfdrive.car.values import Platform
from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
from openpilot.selfdrive.controls.lib.events import Events
from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -101,14 +102,14 @@ class CarInterfaceBase(ABC):
return ACCEL_MIN, ACCEL_MAX
@classmethod
def get_non_essential_params(cls, candidate: str):
def get_non_essential_params(cls, candidate: Platform):
"""
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)
@classmethod
def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
def get_params(cls, candidate: Platform, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
ret = CarInterfaceBase.get_std_params(candidate)
if hasattr(candidate, "config"):
@@ -117,6 +118,9 @@ class CarInterfaceBase(ABC):
ret.mass = platform_config.specs.mass
ret.wheelbase = platform_config.specs.wheelbase
ret.steerRatio = platform_config.specs.steerRatio
ret.centerToFront = ret.wheelbase * platform_config.specs.centerToFrontRatio
ret.minEnableSpeed = platform_config.specs.minEnableSpeed
ret.minSteerSpeed = platform_config.specs.minSteerSpeed
ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
@@ -132,7 +136,7 @@ class CarInterfaceBase(ABC):
@staticmethod
@abstractmethod
def _get_params(ret: car.CarParams, candidate: str, fingerprint: dict[int, dict[int, int]],
def _get_params(ret: car.CarParams, candidate: Platform, fingerprint: dict[int, dict[int, int]],
car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
raise NotImplementedError
selfdrive/car/isotp_parallel_query.py
+1 -1
View File
@@ -12,7 +12,7 @@ from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_a
class IsoTpParallelQuery:
def __init__(self, sendcan: messaging.PubSocket, logcan: messaging.SubSocket, bus: int, addrs: list[int] | list[AddrType],
request: list[bytes], response: list[bytes], response_offset: int = 0x8,
functional_addrs: list[int] | None = None, debug: bool = False, response_pending_timeout: float = 10) -> None:
functional_addrs: list[int] = None, debug: bool = False, response_pending_timeout: float = 10) -> None:
self.sendcan = sendcan
self.logcan = logcan
self.bus = bus
selfdrive/car/subaru/interface.py
+2 -4
View File
@@ -1,6 +1,7 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.values import Platform
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, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags
@@ -9,7 +10,7 @@ from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGL
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, candidate: Platform, fingerprint, car_fw, experimental_long, docs):
ret.carName = "subaru"
ret.radarUnavailable = True
# for HYBRID CARS to be upstreamed, we need:
@@ -40,9 +41,6 @@ class CarInterface(CarInterfaceBase):
else:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.centerToFront = ret.wheelbase * 0.5
if candidate in (CAR.ASCENT, CAR.ASCENT_2023):
ret.steerActuatorDelay = 0.3 # end-to-end angle controller
ret.lateralTuning.init('pid')
selfdrive/car/subaru/values.py
+1 -1
View File
@@ -142,7 +142,7 @@ class CAR(Platforms):
FORESTER = SubaruPlatformConfig(
"SUBARU FORESTER 2019",
SubaruCarInfo("Subaru Forester 2019-21", "All"),
specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
)
FORESTER_HYBRID = SubaruPlatformConfig(
"SUBARU FORESTER HYBRID 2020",
selfdrive/car/values.py
+18
View File
@@ -0,0 +1,18 @@
from typing import cast
from openpilot.selfdrive.car.body.values import CAR as BODY
from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
from openpilot.selfdrive.car.ford.values import CAR as FORD
from openpilot.selfdrive.car.gm.values import CAR as GM
from openpilot.selfdrive.car.honda.values import CAR as HONDA
from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
from openpilot.selfdrive.car.tesla.values import CAR as TESLA
from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | NISSAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
BRANDS = [BODY, CHRYSLER, FORD, GM, HONDA, HYUNDAI, MAZDA, NISSAN, SUBARU, TESLA, TOYOTA, VOLKSWAGEN]
PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in cast(list[Platform], brand)}
selfdrive/car/volkswagen/interface.py
+1 -119
View File
@@ -1,9 +1,8 @@
from cereal import car
from panda import Panda
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
from openpilot.selfdrive.car.volkswagen.values import PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
@@ -72,7 +71,6 @@ class CarInterface(CarInterfaceBase):
# Global lateral tuning defaults, can be overridden per-vehicle
ret.steerRatio = 15.6 # Let the params learner figure this out
ret.steerLimitTimer = 0.4
if candidate in PQ_CARS:
ret.steerActuatorDelay = 0.2
@@ -106,122 +104,6 @@ class CarInterface(CarInterfaceBase):
# Per-chassis tuning values, override tuning defaults here if desired
if candidate == CAR.ARTEON_MK1:
ret.mass = 1733
ret.wheelbase = 2.84
elif candidate == CAR.ATLAS_MK1:
ret.mass = 2011
ret.wheelbase = 2.98
elif candidate == CAR.CRAFTER_MK2:
ret.mass = 2100
ret.wheelbase = 3.64 # SWB, LWB is 4.49, TBD how to detect difference
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
elif candidate == CAR.GOLF_MK7:
ret.mass = 1397
ret.wheelbase = 2.62
elif candidate == CAR.JETTA_MK7:
ret.mass = 1328
ret.wheelbase = 2.71
elif candidate == CAR.PASSAT_MK8:
ret.mass = 1551
ret.wheelbase = 2.79
elif candidate == CAR.PASSAT_NMS:
ret.mass = 1503
ret.wheelbase = 2.80
ret.minEnableSpeed = 20 * CV.KPH_TO_MS # ACC "basic", no FtS
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
elif candidate == CAR.POLO_MK6:
ret.mass = 1230
ret.wheelbase = 2.55
elif candidate == CAR.SHARAN_MK2:
ret.mass = 1639
ret.wheelbase = 2.92
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
elif candidate == CAR.TAOS_MK1:
ret.mass = 1498
ret.wheelbase = 2.69
elif candidate == CAR.TCROSS_MK1:
ret.mass = 1150
ret.wheelbase = 2.60
elif candidate == CAR.TIGUAN_MK2:
ret.mass = 1715
ret.wheelbase = 2.74
elif candidate == CAR.TOURAN_MK2:
ret.mass = 1516
ret.wheelbase = 2.79
elif candidate == CAR.TRANSPORTER_T61:
ret.mass = 1926
ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference
ret.minSteerSpeed = 14.0
elif candidate == CAR.TROC_MK1:
ret.mass = 1413
ret.wheelbase = 2.63
elif candidate == CAR.AUDI_A3_MK3:
ret.mass = 1335
ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q2_MK1:
ret.mass = 1205
ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q3_MK2:
ret.mass = 1623
ret.wheelbase = 2.68
elif candidate == CAR.SEAT_ATECA_MK1:
ret.mass = 1900
ret.wheelbase = 2.64
elif candidate == CAR.SEAT_LEON_MK3:
ret.mass = 1227
ret.wheelbase = 2.64
elif candidate == CAR.SKODA_FABIA_MK4:
ret.mass = 1266
ret.wheelbase = 2.56
elif candidate == CAR.SKODA_KAMIQ_MK1:
ret.mass = 1265
ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KAROQ_MK1:
ret.mass = 1278
ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KODIAQ_MK1:
ret.mass = 1569
ret.wheelbase = 2.79
elif candidate == CAR.SKODA_OCTAVIA_MK3:
ret.mass = 1388
ret.wheelbase = 2.68
elif candidate == CAR.SKODA_SCALA_MK1:
ret.mass = 1192
ret.wheelbase = 2.65
elif candidate == CAR.SKODA_SUPERB_MK3:
ret.mass = 1505
ret.wheelbase = 2.84
else:
raise ValueError(f"unsupported car {candidate}")
ret.autoResumeSng = ret.minEnableSpeed == -1
ret.centerToFront = ret.wheelbase * 0.45
return ret
selfdrive/car/volkswagen/values.py
+210 -126
View File
@@ -1,11 +1,12 @@
from collections import defaultdict, namedtuple
from collections import namedtuple
from dataclasses import dataclass, field
from enum import Enum, IntFlag, StrEnum
from enum import Enum, IntFlag
from cereal import car
from panda.python import uds
from opendbc.can.can_define import CANDefine
from openpilot.selfdrive.car import dbc_dict
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
Device
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
@@ -111,49 +112,17 @@ class CANBUS:
class VolkswagenFlags(IntFlag):
STOCK_HCA_PRESENT = 1
@dataclass
class VolkswagenMQBPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None))
# Check the 7th and 8th characters of the VIN before adding a new CAR. If the
# chassis code is already listed below, don't add a new CAR, just add to the
# FW_VERSIONS for that existing CAR.
# Exception: SEAT Leon and SEAT Ateca share a chassis code
class CAR(StrEnum):
ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN" # Chassis AN, Mk1 VW Arteon and variants
ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN" # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
CRAFTER_MK2 = "VOLKSWAGEN CRAFTER 2ND GEN" # Chassis SY/SZ, Mk2 VW Crafter, VW Grand California, MAN TGE
GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN" # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN" # Chassis BU, Mk7 VW Jetta
PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN" # Chassis 3G, Mk8 VW Passat and variants
PASSAT_NMS = "VOLKSWAGEN PASSAT NMS" # Chassis A3, North America/China/Mideast NMS Passat, incl. facelift
POLO_MK6 = "VOLKSWAGEN POLO 6TH GEN" # Chassis AW, Mk6 VW Polo
SHARAN_MK2 = "VOLKSWAGEN SHARAN 2ND GEN" # Chassis 7N, Mk2 Volkswagen Sharan and SEAT Alhambra
TAOS_MK1 = "VOLKSWAGEN TAOS 1ST GEN" # Chassis B2, Mk1 VW Taos and Tharu
TCROSS_MK1 = "VOLKSWAGEN T-CROSS 1ST GEN" # Chassis C1, Mk1 VW T-Cross SWB and LWB variants
TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN" # Chassis AD/BW, Mk2 VW Tiguan and variants
TOURAN_MK2 = "VOLKSWAGEN TOURAN 2ND GEN" # Chassis 1T, Mk2 VW Touran and variants
TRANSPORTER_T61 = "VOLKSWAGEN TRANSPORTER T6.1" # Chassis 7H/7L, T6-facelift Transporter/Multivan/Caravelle/California
TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN" # Chassis A1, Mk1 VW T-Roc and variants
AUDI_A3_MK3 = "AUDI A3 3RD GEN" # Chassis 8V/FF, Mk3 Audi A3 and variants
AUDI_Q2_MK1 = "AUDI Q2 1ST GEN" # Chassis GA, Mk1 Audi Q2 (RoW) and Q2L (China only)
AUDI_Q3_MK2 = "AUDI Q3 2ND GEN" # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants
SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN" # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca
SEAT_LEON_MK3 = "SEAT LEON 3RD GEN" # Chassis 5F, Mk3 SEAT Leon and variants
SKODA_FABIA_MK4 = "SKODA FABIA 4TH GEN" # Chassis PJ, Mk4 Skoda Fabia
SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN" # Chassis NW, Mk1 Skoda Kamiq
SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN" # Chassis NU, Mk1 Skoda Karoq
SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN" # Chassis NS, Mk1 Skoda Kodiaq
SKODA_SCALA_MK1 = "SKODA SCALA 1ST GEN" # Chassis NW, Mk1 Skoda Scala and Skoda Kamiq
SKODA_SUPERB_MK3 = "SKODA SUPERB 3RD GEN" # Chassis 3V/NP, Mk3 Skoda Superb and variants
SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants
PQ_CARS = {CAR.PASSAT_NMS, CAR.SHARAN_MK2}
DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None))
for car_type in PQ_CARS:
DBC[car_type] = dbc_dict("vw_golf_mk4", None)
@dataclass
class VolkswagenPQPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None))
@dataclass(kw_only=True)
class VolkswagenCarSpecs(CarSpecs):
steerRatio: float = field(default=15.6)
class Footnote(Enum):
KAMIQ = CarFootnote(
@@ -189,90 +158,202 @@ class VWCarInfo(CarInfo):
if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61):
self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
# Check the 7th and 8th characters of the VIN before adding a new CAR. If the
# chassis code is already listed below, don't add a new CAR, just add to the
# FW_VERSIONS for that existing CAR.
# Exception: SEAT Leon and SEAT Ateca share a chassis code
CAR_INFO: dict[str, VWCarInfo | list[VWCarInfo]] = {
CAR.ARTEON_MK1: [
VWCarInfo("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
],
CAR.ATLAS_MK1: [
VWCarInfo("Volkswagen Atlas 2018-23"),
VWCarInfo("Volkswagen Atlas Cross Sport 2020-22"),
VWCarInfo("Volkswagen Teramont 2018-22"),
VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"),
VWCarInfo("Volkswagen Teramont X 2021-22"),
],
CAR.CRAFTER_MK2: [
VWCarInfo("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"),
],
CAR.GOLF_MK7: [
VWCarInfo("Volkswagen e-Golf 2014-20"),
VWCarInfo("Volkswagen Golf 2015-20", auto_resume=False),
VWCarInfo("Volkswagen Golf Alltrack 2015-19", auto_resume=False),
VWCarInfo("Volkswagen Golf GTD 2015-20"),
VWCarInfo("Volkswagen Golf GTE 2015-20"),
VWCarInfo("Volkswagen Golf GTI 2015-21", auto_resume=False),
VWCarInfo("Volkswagen Golf R 2015-19"),
VWCarInfo("Volkswagen Golf SportsVan 2015-20"),
],
CAR.JETTA_MK7: [
VWCarInfo("Volkswagen Jetta 2018-24"),
VWCarInfo("Volkswagen Jetta GLI 2021-24"),
],
CAR.PASSAT_MK8: [
VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]),
VWCarInfo("Volkswagen Passat Alltrack 2015-22"),
VWCarInfo("Volkswagen Passat GTE 2015-22"),
],
CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22"),
CAR.POLO_MK6: [
VWCarInfo("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]),
VWCarInfo("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]),
],
CAR.SHARAN_MK2: [
VWCarInfo("Volkswagen Sharan 2018-22"),
VWCarInfo("SEAT Alhambra 2018-20"),
],
CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022-23"),
CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]),
CAR.TIGUAN_MK2: [
VWCarInfo("Volkswagen Tiguan 2018-24"),
VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"),
],
CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"),
CAR.TRANSPORTER_T61: [
VWCarInfo("Volkswagen Caravelle 2020"),
VWCarInfo("Volkswagen California 2021-23"),
],
CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0]),
CAR.AUDI_A3_MK3: [
VWCarInfo("Audi A3 2014-19"),
VWCarInfo("Audi A3 Sportback e-tron 2017-18"),
VWCarInfo("Audi RS3 2018"),
VWCarInfo("Audi S3 2015-17"),
],
CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018"),
CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"),
CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]),
CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-23"),
CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"),
CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]),
CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"),
CAR.SKODA_OCTAVIA_MK3: [
VWCarInfo("Škoda Octavia 2015-19"),
VWCarInfo("Škoda Octavia RS 2016"),
],
}
class CAR(Platforms):
ARTEON_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN ARTEON 1ST GEN", # Chassis AN
[
VWCarInfo("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
],
specs=VolkswagenCarSpecs(mass=1733, wheelbase=2.84),
)
ATLAS_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN ATLAS 1ST GEN", # Chassis CA
[
VWCarInfo("Volkswagen Atlas 2018-23"),
VWCarInfo("Volkswagen Atlas Cross Sport 2020-22"),
VWCarInfo("Volkswagen Teramont 2018-22"),
VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"),
VWCarInfo("Volkswagen Teramont X 2021-22"),
],
specs=VolkswagenCarSpecs(mass=2011, wheelbase=2.98),
)
CRAFTER_MK2 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN CRAFTER 2ND GEN", # Chassis SY/SZ
[
VWCarInfo("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"),
],
specs=VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS),
)
GOLF_MK7 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN GOLF 7TH GEN", # Chassis 5G/AU/BA/BE
[
VWCarInfo("Volkswagen e-Golf 2014-20"),
VWCarInfo("Volkswagen Golf 2015-20", auto_resume=False),
VWCarInfo("Volkswagen Golf Alltrack 2015-19", auto_resume=False),
VWCarInfo("Volkswagen Golf GTD 2015-20"),
VWCarInfo("Volkswagen Golf GTE 2015-20"),
VWCarInfo("Volkswagen Golf GTI 2015-21", auto_resume=False),
VWCarInfo("Volkswagen Golf R 2015-19"),
VWCarInfo("Volkswagen Golf SportsVan 2015-20"),
],
specs=VolkswagenCarSpecs(mass=1397, wheelbase=2.62),
)
JETTA_MK7 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN JETTA 7TH GEN", # Chassis BU
[
VWCarInfo("Volkswagen Jetta 2018-24"),
VWCarInfo("Volkswagen Jetta GLI 2021-24"),
],
specs=VolkswagenCarSpecs(mass=1328, wheelbase=2.71),
)
PASSAT_MK8 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN PASSAT 8TH GEN", # Chassis 3G
[
VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]),
VWCarInfo("Volkswagen Passat Alltrack 2015-22"),
VWCarInfo("Volkswagen Passat GTE 2015-22"),
],
specs=VolkswagenCarSpecs(mass=1551, wheelbase=2.79),
)
PASSAT_NMS = VolkswagenPQPlatformConfig(
"VOLKSWAGEN PASSAT NMS", # Chassis A3
VWCarInfo("Volkswagen Passat NMS 2017-22"),
specs=VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50*CV.KPH_TO_MS, minEnableSpeed=20*CV.KPH_TO_MS),
)
POLO_MK6 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN POLO 6TH GEN", # Chassis AW
[
VWCarInfo("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]),
VWCarInfo("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]),
],
specs=VolkswagenCarSpecs(mass=1230, wheelbase=2.55),
)
SHARAN_MK2 = VolkswagenPQPlatformConfig(
"VOLKSWAGEN SHARAN 2ND GEN", # Chassis 7N
[
VWCarInfo("Volkswagen Sharan 2018-22"),
VWCarInfo("SEAT Alhambra 2018-20"),
],
specs=VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50*CV.KPH_TO_MS),
)
TAOS_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN TAOS 1ST GEN", # Chassis B2
VWCarInfo("Volkswagen Taos 2022-23"),
specs=VolkswagenCarSpecs(mass=1498, wheelbase=2.69),
)
TCROSS_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN T-CROSS 1ST GEN", # Chassis C1
car_info=VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]),
specs=VolkswagenCarSpecs(mass=1150, wheelbase=2.60),
)
TIGUAN_MK2 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN TIGUAN 2ND GEN", # Chassis AD/BW
[
VWCarInfo("Volkswagen Tiguan 2018-24"),
VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"),
],
specs=VolkswagenCarSpecs(mass=1715, wheelbase=2.74),
)
TOURAN_MK2 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN TOURAN 2ND GEN", # Chassis 1T
VWCarInfo("Volkswagen Touran 2016-23"),
specs=VolkswagenCarSpecs(mass=1516, wheelbase=2.79),
)
TRANSPORTER_T61 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN TRANSPORTER T6.1", # Chassis 7H/7L
[
VWCarInfo("Volkswagen Caravelle 2020"),
VWCarInfo("Volkswagen California 2021-23"),
],
specs=VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0),
)
TROC_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN T-ROC 1ST GEN", # Chassis A1
VWCarInfo("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0]),
specs=VolkswagenCarSpecs(mass=1413, wheelbase=2.63),
)
AUDI_A3_MK3 = VolkswagenMQBPlatformConfig(
"AUDI A3 3RD GEN", # Chassis 8V/FF
[
VWCarInfo("Audi A3 2014-19"),
VWCarInfo("Audi A3 Sportback e-tron 2017-18"),
VWCarInfo("Audi RS3 2018"),
VWCarInfo("Audi S3 2015-17"),
],
specs=VolkswagenCarSpecs(mass=1335, wheelbase=2.61),
)
AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig(
"AUDI Q2 1ST GEN", # Chassis GA
VWCarInfo("Audi Q2 2018"),
specs=VolkswagenCarSpecs(mass=1205, wheelbase=2.61),
)
AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig(
"AUDI Q3 2ND GEN", # Chassis 8U/F3/FS
VWCarInfo("Audi Q3 2019-23"),
specs=VolkswagenCarSpecs(mass=1623, wheelbase=2.68),
)
SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig(
"SEAT ATECA 1ST GEN", # Chassis 5F
VWCarInfo("SEAT Ateca 2018"),
specs=VolkswagenCarSpecs(mass=1900, wheelbase=2.64),
)
SEAT_LEON_MK3 = VolkswagenMQBPlatformConfig(
"SEAT LEON 3RD GEN", # Chassis 5F
VWCarInfo("SEAT Leon 2014-20"),
specs=VolkswagenCarSpecs(mass=1227, wheelbase=2.64),
)
SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig(
"SKODA FABIA 4TH GEN", # Chassis PJ
VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]),
specs=VolkswagenCarSpecs(mass=1266, wheelbase=2.56),
)
SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig(
"SKODA KAMIQ 1ST GEN", # Chassis NW
VWCarInfo("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
specs=VolkswagenCarSpecs(mass=1265, wheelbase=2.66),
)
SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig(
"SKODA KAROQ 1ST GEN", # Chassis NU
VWCarInfo("Škoda Karoq 2019-23"),
specs=VolkswagenCarSpecs(mass=1278, wheelbase=2.66),
)
SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig(
"SKODA KODIAQ 1ST GEN", # Chassis NS
VWCarInfo("Škoda Kodiaq 2017-23"),
specs=VolkswagenCarSpecs(mass=1569, wheelbase=2.79),
)
SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig(
"SKODA OCTAVIA 3RD GEN", # Chassis NE
[
VWCarInfo("Škoda Octavia 2015-19"),
VWCarInfo("Škoda Octavia RS 2016"),
],
specs=VolkswagenCarSpecs(mass=1388, wheelbase=2.68),
)
SKODA_SCALA_MK1 = VolkswagenMQBPlatformConfig(
"SKODA SCALA 1ST GEN", # Chassis NW
VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]),
specs=VolkswagenCarSpecs(mass=1192, wheelbase=2.65),
)
SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig(
"SKODA SUPERB 3RD GEN", # Chassis 3V/NP
VWCarInfo("Škoda Superb 2015-22"),
specs=VolkswagenCarSpecs(mass=1505, wheelbase=2.84),
)
PQ_CARS = {CAR.PASSAT_NMS, CAR.SHARAN_MK2}
# All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars
# with a manual trans won't return transmission firmware, but all other cars will.
@@ -313,3 +394,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
),
]],
)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
selfdrive/controls/lib/alertmanager.py
+1 -1
View File
@@ -13,7 +13,7 @@ with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) a
OFFROAD_ALERTS = json.load(f)
def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = None) -> None:
def set_offroad_alert(alert: str, show_alert: bool, extra_text: str = None) -> None:
if show_alert:
a = copy.copy(OFFROAD_ALERTS[alert])
a['extra'] = extra_text or ''
selfdrive/locationd/calibrationd.py
+1 -1
View File
@@ -89,7 +89,7 @@ class Calibrator:
valid_blocks: int = 0,
wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT,
height_init: np.ndarray = HEIGHT_INIT,
smooth_from: np.ndarray | None = None) -> None:
smooth_from: np.ndarray = None) -> None:
if not np.isfinite(rpy_init).all():
self.rpy = RPY_INIT.copy()
else:
selfdrive/locationd/helpers.py
+1 -1
View File
@@ -41,7 +41,7 @@ class PointBuckets:
def add_point(self, x: float, y: float, bucket_val: float) -> None:
raise NotImplementedError
def get_points(self, num_points: int | None = None) -> Any:
def get_points(self, num_points: int = None) -> Any:
points = np.vstack([x.arr for x in self.buckets.values()])
if num_points is None:
return points
selfdrive/manager/process.py
+1 -1
View File
@@ -109,7 +109,7 @@ class ManagerProcess(ABC):
else:
self.watchdog_seen = True
def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals | None = None) -> int | None:
def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None:
if self.proc is None:
return None
selfdrive/navd/helpers.py
+1 -1
View File
@@ -106,7 +106,7 @@ def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> floa
return total_distance_closest
def coordinate_from_param(param: str, params: Params | None = None) -> Coordinate | None:
def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None:
if params is None:
params = Params()
selfdrive/test/fuzzy_generation.py
+1 -1
View File
@@ -68,7 +68,7 @@ class FuzzyGenerator:
else:
return self.generate_struct(field.schema)
def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str = None) -> st.SearchStrategy[dict[str, Any]]:
full_fill: list[str] = list(schema.non_union_fields)
single_fill: list[str] = [event] if event else [self.draw(st.sampled_from(schema.union_fields))] if schema.union_fields else []
return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in full_fill + single_fill})
selfdrive/test/helpers.py
+24
View File
@@ -1,4 +1,6 @@
import http.server
import os
import threading
import time
from functools import wraps
@@ -76,3 +78,25 @@ def read_segment_list(segment_list_path):
seg_list = f.read().splitlines()
return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)]
def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None):
@wraps(func)
def inner(*args, **kwargs):
host = '127.0.0.1'
server = http.server.HTTPServer((host, 0), handler)
port = server.server_port
t = threading.Thread(target=server.serve_forever)
t.start()
if setup is not None:
setup(host, port)
try:
return func(*args, f'http://{host}:{port}', **kwargs)
finally:
server.shutdown()
server.server_close()
t.join()
return inner
selfdrive/test/process_replay/process_replay.py
+3 -3
View File
@@ -627,9 +627,9 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args,
def replay_process(
cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] | None = None,
fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None,
captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False
cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] = None,
fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None,
captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False
) -> list[capnp._DynamicStructReader]:
if isinstance(cfg, Iterable):
cfgs = list(cfg)
selfdrive/test/process_replay/regen.py
+1 -1
View File
@@ -41,7 +41,7 @@ class DummyFrameReader(BaseFrameReader):
def regen_segment(
lr: LogIterable, frs: dict[str, Any] | None = None,
lr: LogIterable, frs: dict[str, Any] = None,
processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
) -> list[capnp._DynamicStructReader]:
all_msgs = sorted(lr, key=lambda m: m.logMonoTime)
selfdrive/test/update_ci_routes.py
+1 -1
View File
@@ -19,7 +19,7 @@ SOURCES: list[AzureContainer] = [
DEST = OpenpilotCIContainer
def upload_route(path: str, exclude_patterns: Iterable[str] | None = None) -> None:
def upload_route(path: str, exclude_patterns: Iterable[str] = None) -> None:
if exclude_patterns is None:
exclude_patterns = [r'dcamera\.hevc']
selfdrive/ui/translations/auto_translate.py
+1 -1
View File
@@ -18,7 +18,7 @@ OPENAI_PROMPT = "You are a professional translator from English to {language} (I
"The following sentence or word is in the GUI of a software called openpilot, translate it accordingly."
def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]:
def get_language_files(languages: list[str] = None) -> dict[str, pathlib.Path]:
files = {}
with open(TRANSLATIONS_LANGUAGES) as fp:
selfdrive/updated.py
+1 -1
View File
@@ -71,7 +71,7 @@ def read_time_from_param(params, param) -> datetime.datetime | None:
pass
return None
def run(cmd: list[str], cwd: str | None = None) -> str:
def run(cmd: list[str], cwd: str = None) -> str:
return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8')
system/hardware/tici/casync.py
+1 -1
View File
@@ -145,7 +145,7 @@ def build_chunk_dict(chunks: list[Chunk]) -> ChunkDict:
def extract(target: list[Chunk],
sources: list[tuple[str, ChunkReader, ChunkDict]],
out_path: str,
progress: Callable[[int], None] | None = None):
progress: Callable[[int], None] = None):
stats: dict[str, int] = defaultdict(int)
mode = 'rb+' if os.path.exists(out_path) else 'wb'
system/loggerd/tests/loggerd_tests_common.py
+2 -2
View File
@@ -11,7 +11,7 @@ from openpilot.system.hardware.hw import Paths
from openpilot.system.loggerd.xattr_cache import setxattr
def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes | None = None) -> None:
def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes = None) -> None:
file_path.parent.mkdir(parents=True, exist_ok=True)
if lock:
@@ -81,7 +81,7 @@ class UploaderTestCase(unittest.TestCase):
self.params.put("DongleId", "0000000000000000")
def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path:
upload_xattr: bytes = None, preserve_xattr: bytes = None) -> Path:
file_path = Path(Paths.log_root()) / f_dir / fn
create_random_file(file_path, size_mb, lock, upload_xattr)
system/loggerd/tests/test_uploader.py
+1 -1
View File
@@ -52,7 +52,7 @@ class TestUploader(UploaderTestCase):
self.end_event.set()
self.up_thread.join()
def gen_files(self, lock=False, xattr: bytes | None = None, boot=True) -> list[Path]:
def gen_files(self, lock=False, xattr: bytes = None, boot=True) -> list[Path]:
f_paths = []
for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]:
f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, upload_xattr=xattr))
system/loggerd/uploader.py
+1 -1
View File
@@ -222,7 +222,7 @@ class Uploader:
return self.upload(name, key, fn, network_type, metered)
def main(exit_event: threading.Event | None = None) -> None:
def main(exit_event: threading.Event = None) -> None:
if exit_event is None:
exit_event = threading.Event()
system/webrtc/device/audio.py
+2 -2
View File
@@ -16,7 +16,7 @@ class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack):
pyaudio.paFloat32: 'flt',
}
def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int | None = None):
def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int = None):
super().__init__()
self.p = pyaudio.PyAudio()
@@ -48,7 +48,7 @@ class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack):
class AudioOutputSpeaker:
def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int | None = None):
def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int = None):
chunk_size = int(packet_time * rate)
self.p = pyaudio.PyAudio()
tools/lib/tests/test_caching.py
+1 -1
View File
@@ -7,7 +7,7 @@ import socket
import unittest
from parameterized import parameterized
from openpilot.selfdrive.athena.tests.helpers import with_http_server
from openpilot.selfdrive.test.helpers import with_http_server
from openpilot.system.hardware.hw import Paths
from openpilot.tools.lib.url_file import URLFile
tools/plotjuggler/juggle.py
+1 -1
View File
@@ -26,7 +26,7 @@ MAX_STREAMING_BUFFER_SIZE = 1000
def install():
m = f"{platform.system()}-{platform.machine()}"
supported = ("Linux-x86_64", "Darwin-arm64", "Darwin-x86_64")
supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64", "Darwin-x86_64")
if m not in supported:
raise Exception(f"Unsupported platform: '{m}'. Supported platforms: {supported}")