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Code Issues Packages Projects Releases Wiki Activity

Volkswagen: Use modern button events

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This commit is contained in:
Jason Wen
2024-07-11 22:02:00 -04:00
parent 120699df97
commit e4175e636a
3 changed files with 11 additions and 57 deletions
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selfdrive/car/volkswagen/carstate.py
+3 -23
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@@ -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
+8 -24
View File
@@ -4,7 +4,7 @@ from openpilot.common.params import Params
from openpilot.selfdrive.car import get_safety_config, create_mads_event
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 +142,20 @@ 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.CS.button_events.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.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = self.CS.button_events
events = self.create_common_events(ret, c, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
pcm_enable=False,
@@ -199,8 +187,4 @@ 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
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@@ -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))