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Merge branch 'master' into sync-priv-20240227

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# Conflicts:
#	panda
#	selfdrive/car/chrysler/values.py
#	selfdrive/car/ford/carstate.py
#	selfdrive/car/ford/interface.py
#	selfdrive/car/ford/values.py
#	selfdrive/car/interfaces.py
#	selfdrive/car/nissan/values.py
#	selfdrive/car/subaru/interface.py
#	selfdrive/car/volkswagen/interface.py
#	selfdrive/car/volkswagen/values.py
#	selfdrive/controls/radard.py
#	selfdrive/manager/process.py
#	selfdrive/modeld/modeld.py
This commit is contained in:
Jason Wen
2024-02-27 21:22:16 -05:00
parent 761b16d8f5 5d6f22d062
commit f588a0367b
169 changed files with 1561 additions and 1491 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/workflows/selfdrive_tests.yaml
+1 -1
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@@ -117,7 +117,7 @@ jobs:
- name: Merge x64 and arm64 tags
run: |
export PUSH_IMAGE=true
selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
static_analysis:
name: static analysis
.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
+7 -7
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@@ -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
@@ -32,6 +32,11 @@ repos:
# if you've got a short variable name that's getting flagged, add it here
- -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
- --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
- repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.2.2
hooks:
- id: ruff
exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
- repo: local
hooks:
- id: mypy
@@ -43,11 +48,6 @@ repos:
- --local-partial-types
- --explicit-package-bases
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
- repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.2.2
hooks:
- id: ruff
exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
- repo: local
hooks:
- id: cppcheck
@@ -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
}
}
RELEASES.md
+1
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@@ -1,6 +1,7 @@
Version 0.9.7 (2024-XX-XX)
========================
* New driving model
* Support for many hybrid Ford models
Version 0.9.6 (2024-02-27)
========================
SConstruct
-9
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@@ -96,8 +96,6 @@ lenv = {
rpath = lenv["LD_LIBRARY_PATH"].copy()
if arch == "larch64":
lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
cpppath = [
"#third_party/opencl/include",
]
@@ -361,13 +359,6 @@ Export('common', 'gpucommon')
# Build cereal and messaging
SConscript(['cereal/SConscript'])
cereal = [File('#cereal/libcereal.a')]
messaging = [File('#cereal/libmessaging.a')]
visionipc = [File('#cereal/libvisionipc.a')]
messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
Export('cereal', 'messaging', 'messaging_python', 'visionipc')
# Build other submodules
SConscript([
'body/board/SConscript',
cereal
+1 -1
Submodule cereal updated: b891fcca7a...d4c43a0865
common/file_helpers.py
+1 -2
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@@ -1,7 +1,6 @@
import os
import tempfile
import contextlib
from typing import Optional
class CallbackReader:
@@ -24,7 +23,7 @@ class CallbackReader:
@contextlib.contextmanager
def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: Optional[str] = None, newline: Optional[str] = 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/gpio.py
+3 -4
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@@ -1,6 +1,5 @@
import os
from functools import lru_cache
from typing import Optional, List
def gpio_init(pin: int, output: bool) -> None:
try:
@@ -16,7 +15,7 @@ def gpio_set(pin: int, high: bool) -> None:
except Exception as e:
print(f"Failed to set gpio {pin} value: {e}")
def gpio_read(pin: int) -> Optional[bool]:
def gpio_read(pin: int) -> bool | None:
val = None
try:
with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
@@ -37,7 +36,7 @@ def gpio_export(pin: int) -> None:
print(f"Failed to export gpio {pin}")
@lru_cache(maxsize=None)
def get_irq_action(irq: int) -> List[str]:
def get_irq_action(irq: int) -> list[str]:
try:
with open(f"/sys/kernel/irq/{irq}/actions") as f:
actions = f.read().strip().split(',')
@@ -45,7 +44,7 @@ def get_irq_action(irq: int) -> List[str]:
except FileNotFoundError:
return []
def get_irqs_for_action(action: str) -> List[str]:
def get_irqs_for_action(action: str) -> list[str]:
ret = []
with open("/proc/interrupts") as f:
for l in f.readlines():
common/mock/__init__.py
+2 -3
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@@ -6,7 +6,6 @@ example in common/tests/test_mock.py
import functools
import threading
from typing import List, Union
from cereal.messaging import PubMaster
from cereal.services import SERVICE_LIST
from openpilot.common.mock.generators import generate_liveLocationKalman
@@ -18,7 +17,7 @@ MOCK_GENERATOR = {
}
def generate_messages_loop(services: List[str], done: threading.Event):
def generate_messages_loop(services: list[str], done: threading.Event):
pm = PubMaster(services)
rk = Ratekeeper(100)
i = 0
@@ -32,7 +31,7 @@ def generate_messages_loop(services: List[str], done: threading.Event):
rk.keep_time()
def mock_messages(services: Union[List[str], str]):
def mock_messages(services: list[str] | str):
if isinstance(services, str):
services = [services]
common/params.cc
-1
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@@ -209,7 +209,6 @@ std::unordered_map<std::string, uint32_t> keys = {
{"UpdaterLastFetchTime", PERSISTENT},
{"Version", PERSISTENT},
{"VisionRadarToggle", PERSISTENT},
{"WheeledBody", PERSISTENT},
{"AccMadsCombo", PERSISTENT},
{"AmapKey1", PERSISTENT},
common/prefix.py
+1 -2
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@@ -2,14 +2,13 @@ import os
import shutil
import uuid
from typing import Optional
from openpilot.common.params import Params
from openpilot.system.hardware.hw import Paths
from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
class OpenpilotPrefix:
def __init__(self, prefix: Optional[str] = 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
common/realtime.py
+3 -4
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@@ -5,7 +5,6 @@ import time
import threading
import psutil
from collections import deque
from typing import Optional, List, Union
from setproctitle import getproctitle
@@ -35,12 +34,12 @@ def set_realtime_priority(level: int) -> None:
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
def set_core_affinity(cores: List[int]) -> None:
def set_core_affinity(cores: list[int]) -> None:
if not PC:
os.sched_setaffinity(0, cores)
def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None:
def config_realtime_process(cores: int | list[int], priority: int) -> None:
gc.disable()
set_realtime_priority(priority)
c = cores if isinstance(cores, list) else [cores, ]
@@ -56,7 +55,7 @@ def set_thread_affinity(thread: threading.Thread, cores: List[int]) -> None:
class Ratekeeper:
def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None:
def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
"""Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
self._interval = 1. / rate
self._next_frame_time = time.monotonic() + self._interval
common/transformations/orientation.py
+1 -1
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@@ -1,5 +1,5 @@
import numpy as np
from typing import Callable
from collections.abc import Callable
from openpilot.common.transformations.transformations import (ecef_euler_from_ned_single,
euler2quat_single,
docs/CARS.md
+11 -2
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@@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 279 Supported Cars
# 288 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -37,11 +37,19 @@ A supported vehicle is one that just works when you install a comma device. All
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-23">Buy Here</a></sub></details>||
|Ford|Explorer Hybrid 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-23">Buy Here</a></sub></details>||
|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
|Ford|Maverick Hybrid 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023">Buy Here</a></sub></details>||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
@@ -177,7 +185,8 @@ A supported vehicle is one that just works when you install a comma device. All
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
docs/CONTRIBUTING.md
+1 -1
View File
@@ -62,4 +62,4 @@ A good pull request has all of the following:
* Consider opting into driver camera uploads to improve the driver monitoring model.
* Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
* Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
* Annotate images in the [comma10k dateset](https://github.com/commaai/comma10k).
* Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).
launch_env.sh
+1 -1
View File
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1
if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="9.6"
export AGNOS_VERSION="9.7"
fi
export STAGING_ROOT="/data/safe_staging"
opendbc
+1 -1
Submodule opendbc updated: e8e8ed7222...ecffe0cc98
openpilot/__init__.py
-3
View File
@@ -1,3 +0,0 @@
panda
+1 -1
Submodule panda updated: ec91ad7f06...87391d0067
poetry.lock
Generated
+176 -175
View File
@@ -751,63 +751,63 @@ test = ["pytest", "pytest-timeout"]
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version = "7.4.3"
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optional = false
python-versions = ">=3.8"
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]
[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 = [
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{file = "pytest-8.0.1.tar.gz", hash = "sha256:267f6563751877d772019b13aacbe4e860d73fe8f651f28112e9ac37de7513ae"},
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{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 = [
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{file = "setuptools-69.1.0.tar.gz", hash = "sha256:850894c4195f09c4ed30dba56213bf7c3f21d86ed6bdaafb5df5972593bfc401"},
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[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 = [
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]
[[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 = [
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]
[package.dependencies]
pyproject.toml
+4
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"
@@ -187,6 +190,7 @@ lint.flake8-implicit-str-concat.allow-multiline=false
"system".msg = "Use openpilot.system"
"third_party".msg = "Use openpilot.third_party"
"tools".msg = "Use openpilot.tools"
"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
[tool.coverage.run]
concurrency = ["multiprocessing", "thread"]
rednose_repo
+1 -1
Submodule rednose_repo updated: 18b91458fd...c5762e8bc6
release/files_common
+2
View File
@@ -27,6 +27,7 @@ common/.gitignore
common/__init__.py
common/*.py
common/*.pyx
common/mock/*
common/transformations/__init__.py
common/transformations/camera.py
@@ -91,6 +92,7 @@ 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
+29 -28
View File
@@ -19,7 +19,8 @@ from dataclasses import asdict, dataclass, replace
from datetime import datetime
from functools import partial
from queue import Queue
from typing import Callable, Dict, List, Optional, Set, Union, cast
from typing import cast
from collections.abc import Callable
import requests
from jsonrpc import JSONRPCResponseManager, dispatcher
@@ -55,17 +56,17 @@ WS_FRAME_SIZE = 4096
NetworkType = log.DeviceState.NetworkType
UploadFileDict = Dict[str, Union[str, int, float, bool]]
UploadItemDict = Dict[str, Union[str, bool, int, float, Dict[str, str]]]
UploadFileDict = dict[str, str | int | float | bool]
UploadItemDict = dict[str, str | bool | int | float | dict[str, str]]
UploadFilesToUrlResponse = Dict[str, Union[int, List[UploadItemDict], List[str]]]
UploadFilesToUrlResponse = dict[str, int | list[UploadItemDict] | list[str]]
@dataclass
class UploadFile:
fn: str
url: str
headers: Dict[str, str]
headers: dict[str, str]
allow_cellular: bool
@classmethod
@@ -77,9 +78,9 @@ class UploadFile:
class UploadItem:
path: str
url: str
headers: Dict[str, str]
headers: dict[str, str]
created_at: int
id: Optional[str]
id: str | None
retry_count: int = 0
current: bool = False
progress: float = 0
@@ -97,9 +98,9 @@ send_queue: Queue[str] = queue.Queue()
upload_queue: Queue[UploadItem] = queue.Queue()
low_priority_send_queue: Queue[str] = queue.Queue()
log_recv_queue: Queue[str] = queue.Queue()
cancelled_uploads: Set[str] = set()
cancelled_uploads: set[str] = set()
cur_upload_items: Dict[int, Optional[UploadItem]] = {}
cur_upload_items: dict[int, UploadItem | None] = {}
def strip_bz2_extension(fn: str) -> str:
@@ -127,14 +128,14 @@ class UploadQueueCache:
@staticmethod
def cache(upload_queue: Queue[UploadItem]) -> None:
try:
queue: List[Optional[UploadItem]] = list(upload_queue.queue)
queue: list[UploadItem | None] = list(upload_queue.queue)
items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
Params().put("AthenadUploadQueue", json.dumps(items))
except Exception:
cloudlog.exception("athena.UploadQueueCache.cache.exception")
def handle_long_poll(ws: WebSocket, exit_event: Optional[threading.Event]) -> None:
def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
end_event = threading.Event()
threads = [
@@ -278,7 +279,7 @@ def upload_handler(end_event: threading.Event) -> None:
cloudlog.exception("athena.upload_handler.exception")
def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) -> requests.Response:
def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.Response:
path = upload_item.path
compress = False
@@ -317,7 +318,7 @@ def getMessage(service: str, timeout: int = 1000) -> dict:
@dispatcher.add_method
def getVersion() -> Dict[str, str]:
def getVersion() -> dict[str, str]:
return {
"version": get_version(),
"remote": get_normalized_origin(),
@@ -327,7 +328,7 @@ def getVersion() -> Dict[str, str]:
@dispatcher.add_method
def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: Optional[str] = None, place_details: Optional[str] = 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,
@@ -339,7 +340,7 @@ def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: Optiona
return {"success": 1}
def scan_dir(path: str, prefix: str) -> List[str]:
def scan_dir(path: str, prefix: str) -> list[str]:
files = []
# only walk directories that match the prefix
# (glob and friends traverse entire dir tree)
@@ -359,12 +360,12 @@ def scan_dir(path: str, prefix: str) -> List[str]:
return files
@dispatcher.add_method
def listDataDirectory(prefix='') -> List[str]:
def listDataDirectory(prefix='') -> list[str]:
return scan_dir(Paths.log_root(), prefix)
@dispatcher.add_method
def uploadFileToUrl(fn: str, url: str, headers: Dict[str, str]) -> UploadFilesToUrlResponse:
def uploadFileToUrl(fn: str, url: str, headers: dict[str, str]) -> UploadFilesToUrlResponse:
# this is because mypy doesn't understand that the decorator doesn't change the return type
response: UploadFilesToUrlResponse = uploadFilesToUrls([{
"fn": fn,
@@ -375,11 +376,11 @@ def uploadFileToUrl(fn: str, url: str, headers: Dict[str, str]) -> UploadFilesTo
@dispatcher.add_method
def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlResponse:
def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlResponse:
files = map(UploadFile.from_dict, files_data)
items: List[UploadItemDict] = []
failed: List[str] = []
items: list[UploadItemDict] = []
failed: list[str] = []
for file in files:
if len(file.fn) == 0 or file.fn[0] == '/' or '..' in file.fn or len(file.url) == 0:
failed.append(file.fn)
@@ -418,13 +419,13 @@ def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlRespo
@dispatcher.add_method
def listUploadQueue() -> List[UploadItemDict]:
def listUploadQueue() -> list[UploadItemDict]:
items = list(upload_queue.queue) + list(cur_upload_items.values())
return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)]
@dispatcher.add_method
def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]]:
def cancelUpload(upload_id: str | list[str]) -> dict[str, int | str]:
if not isinstance(upload_id, list):
upload_id = [upload_id]
@@ -437,7 +438,7 @@ def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]]
return {"success": 1}
@dispatcher.add_method
def setRouteViewed(route: str) -> Dict[str, Union[int, str]]:
def setRouteViewed(route: str) -> dict[str, int | str]:
# maintain a list of the last 10 routes viewed in connect
params = Params()
@@ -452,7 +453,7 @@ def setRouteViewed(route: str) -> Dict[str, Union[int, str]]:
return {"success": 1}
def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> Dict[str, int]:
def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
try:
if local_port not in LOCAL_PORT_WHITELIST:
raise Exception("Requested local port not whitelisted")
@@ -486,7 +487,7 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
@dispatcher.add_method
def getPublicKey() -> Optional[str]:
def getPublicKey() -> str | None:
if not os.path.isfile(Paths.persist_root() + '/comma/id_rsa.pub'):
return None
@@ -526,7 +527,7 @@ def getNetworks():
@dispatcher.add_method
def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]:
def takeSnapshot() -> str | dict[str, str] | None:
from openpilot.system.camerad.snapshot.snapshot import jpeg_write, snapshot
ret = snapshot()
if ret is not None:
@@ -543,7 +544,7 @@ def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]:
raise Exception("not available while camerad is started")
def get_logs_to_send_sorted() -> List[str]:
def get_logs_to_send_sorted() -> list[str]:
# TODO: scan once then use inotify to detect file creation/deletion
curr_time = int(time.time())
logs = []
@@ -766,7 +767,7 @@ def backoff(retries: int) -> int:
return random.randrange(0, min(128, int(2 ** retries)))
def main(exit_event: Optional[threading.Event] = None):
def main(exit_event: threading.Event = None):
try:
set_core_affinity([0, 1, 2, 3])
except Exception:
selfdrive/athena/registration.py
+4 -5
View File
@@ -3,7 +3,6 @@ import time
import json
import jwt
from pathlib import Path
from typing import Optional
from datetime import datetime, timedelta
from openpilot.common.api import api_get
@@ -23,12 +22,12 @@ def is_registered_device() -> bool:
return dongle not in (None, UNREGISTERED_DONGLE_ID)
def register(show_spinner=False) -> Optional[str]:
def register(show_spinner=False) -> str | None:
params = Params()
IMEI = params.get("IMEI", encoding='utf8')
HardwareSerial = params.get("HardwareSerial", encoding='utf8')
dongle_id: Optional[str] = params.get("DongleId", encoding='utf8')
dongle_id: str | None = params.get("DongleId", encoding='utf8')
needs_registration = None in (IMEI, HardwareSerial, dongle_id)
pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub")
@@ -48,8 +47,8 @@ def register(show_spinner=False) -> Optional[str]:
# Block until we get the imei
serial = HARDWARE.get_serial()
start_time = time.monotonic()
imei1: Optional[str] = None
imei2: Optional[str] = None
imei1: str | None = None
imei2: str | None = None
while imei1 is None and imei2 is None:
try:
imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1)
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 -4
View File
@@ -12,7 +12,6 @@ import unittest
from dataclasses import asdict, replace
from datetime import datetime, timedelta
from parameterized import parameterized
from typing import Optional
from unittest import mock
from websocket import ABNF
@@ -24,9 +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):
@@ -97,7 +96,7 @@ class TestAthenadMethods(unittest.TestCase):
break
@staticmethod
def _create_file(file: str, parent: Optional[str] = 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/athena/tests/test_athenad_ping.py
+3 -3
View File
@@ -3,7 +3,7 @@ import subprocess
import threading
import time
import unittest
from typing import cast, Optional
from typing import cast
from unittest import mock
from openpilot.common.params import Params
@@ -29,8 +29,8 @@ class TestAthenadPing(unittest.TestCase):
athenad: threading.Thread
exit_event: threading.Event
def _get_ping_time(self) -> Optional[str]:
return cast(Optional[str], self.params.get("LastAthenaPingTime", encoding="utf-8"))
def _get_ping_time(self) -> str | None:
return cast(str | None, self.params.get("LastAthenaPingTime", encoding="utf-8"))
def _clear_ping_time(self) -> None:
self.params.remove("LastAthenaPingTime")
selfdrive/boardd/pandad.py
+2 -2
View File
@@ -4,7 +4,7 @@ import os
import usb1
import time
import subprocess
from typing import List, NoReturn
from typing import NoReturn
from functools import cmp_to_key
from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
@@ -124,7 +124,7 @@ def main() -> NoReturn:
cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
# Flash pandas
pandas: List[Panda] = []
pandas: list[Panda] = []
for serial in panda_serials:
pandas.append(flash_panda(serial))
selfdrive/car/__init__.py
+29 -13
View File
@@ -1,8 +1,7 @@
# functions common among cars
from collections import namedtuple
from dataclasses import dataclass
from dataclasses import dataclass, field, replace
from enum import ReprEnum
from typing import Dict, List, Optional, Union
import capnp
@@ -27,9 +26,9 @@ def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
return val_steady
def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule],
unpressed_btn: int = 0) -> List[capnp.lib.capnp._DynamicStructBuilder]:
events: List[capnp.lib.capnp._DynamicStructBuilder] = []
def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, capnp.lib.capnp._EnumModule],
unpressed_btn: int = 0) -> list[capnp.lib.capnp._DynamicStructBuilder]:
events: list[capnp.lib.capnp._DynamicStructBuilder] = []
if cur_btn == prev_btn:
return events
@@ -82,7 +81,8 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor
return tire_stiffness_front, tire_stiffness_rear
DbcDict = Dict[str, str]
DbcDict = dict[str, str]
def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> DbcDict:
return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
@@ -219,7 +219,7 @@ def get_safety_config(safety_model, safety_param = None):
class CanBusBase:
offset: int
def __init__(self, CP, fingerprint: Optional[Dict[int, Dict[int, int]]]) -> None:
def __init__(self, CP, fingerprint: dict[int, dict[int, int]] | None) -> None:
if CP is None:
assert fingerprint is not None
num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1
@@ -249,17 +249,33 @@ class CanSignalRateCalculator:
return self.rate
CarInfos = Union[CarInfo, List[CarInfo]]
CarInfos = CarInfo | list[CarInfo]
@dataclass(order=True)
@dataclass(frozen=True, 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(frozen=True, order=True)
class PlatformConfig:
platform_str: str
car_info: CarInfos
dbc_dict: DbcDict
specs: CarSpecs | None = None
def __hash__(self) -> int:
return hash(self.platform_str)
def override(self, **kwargs):
return replace(self, **kwargs)
class Platforms(str, ReprEnum):
config: PlatformConfig
@@ -271,9 +287,9 @@ class Platforms(str, ReprEnum):
return member
@classmethod
def create_dbc_map(cls) -> Dict[str, DbcDict]:
return {p.config.platform_str: p.config.dbc_dict for p in cls}
def create_dbc_map(cls) -> dict[str, DbcDict]:
return {p: p.config.dbc_dict for p in cls}
@classmethod
def create_carinfo_map(cls) -> Dict[str, CarInfos]:
return {p.config.platform_str: p.config.car_info for p in cls}
def create_carinfo_map(cls) -> dict[str, CarInfos]:
return {p: p.config.car_info for p in cls}
selfdrive/car/body/carcontroller.py
+2 -18
View File
@@ -1,6 +1,5 @@
import numpy as np
from openpilot.common.params import Params
from openpilot.common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car.body import bodycan
@@ -20,18 +19,13 @@ class CarController:
self.frame = 0
self.packer = CANPacker(dbc_name)
# Speed, balance and turn PIDs
self.speed_pid = PIDController(0.115, k_i=0.23, rate=1/DT_CTRL)
self.balance_pid = PIDController(1300, k_i=0, k_d=280, rate=1/DT_CTRL)
# PIDs
self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
self.torque_r_filtered = 0.
self.torque_l_filtered = 0.
params = Params()
self.wheeled_body = params.get("WheeledBody")
@staticmethod
def deadband_filter(torque, deadband):
if torque > 0:
@@ -55,17 +49,7 @@ class CarController:
speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
speed_error = speed_desired - speed_measured
if self.wheeled_body is None:
freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
(speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)
# Clip angle error, this is enough to get up from stands
angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR)
angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.)
torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate)
else:
torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
turn_error = speed_diff_measured - speed_diff_desired
selfdrive/car/car_helpers.py
+8 -4
View File
@@ -3,11 +3,12 @@ import os
import requests
import threading
import time
from typing import Callable, Dict, List, Optional, Tuple
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
@@ -67,7 +68,7 @@ def load_interfaces(brand_names):
return ret
def _get_interface_names() -> Dict[str, List[str]]:
def _get_interface_names() -> dict[str, list[str]]:
# returns a dict of brand name and its respective models
brand_names = {}
for brand_name, brand_models in get_interface_attr("CAR").items():
@@ -81,7 +82,7 @@ interface_names = _get_interface_names()
interfaces = load_interfaces(interface_names)
def can_fingerprint(next_can: Callable) -> Tuple[Optional[str], Dict[int, dict]]:
def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
finger = gen_empty_fingerprint()
candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1
frame = 0
@@ -193,7 +194,10 @@ 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 is_connected_to_internet(timeout=5):
selfdrive/car/chrysler/interface.py
+3 -18
View File
@@ -32,7 +32,6 @@ class CarInterface(CarInterfaceBase):
elif candidate in RAM_DT:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
ret.minSteerSpeed = 3.8 # m/s
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate not in RAM_CARS:
# Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
@@ -43,10 +42,6 @@ class CarInterface(CarInterfaceBase):
# Chrysler
if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.DODGE_DURANGO):
ret.mass = 2242.
ret.wheelbase = 3.089
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
@@ -54,9 +49,6 @@ class CarInterface(CarInterfaceBase):
# Jeep
elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):
ret.mass = 1778
ret.wheelbase = 2.71
ret.steerRatio = 16.7
ret.steerActuatorDelay = 0.2
ret.lateralTuning.init('pid')
@@ -68,19 +60,12 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.RAM_1500:
ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.88
ret.steerRatio = 16.3
ret.mass = 2493.
ret.minSteerSpeed = 0.5
ret.minEnableSpeed = 14.5
if any(fw.ecu == 'eps' and fw.fwVersion in (b"68273275AF", b"68273275AG", b"68312176AE", b"68312176AG",) for fw in car_fw):
ret.minEnableSpeed = 0.
# Older EPS FW allow steer to zero
if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
ret.minSteerSpeed = 0.
elif candidate == CAR.RAM_HD:
ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.785
ret.steerRatio = 15.61
ret.mass = 3405.
ret.minSteerSpeed = 16
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
ret.spFlags |= ChryslerFlagsSP.SP_RAM_HD_PARAMSD_IGNORE.value
selfdrive/car/chrysler/values.py
+80 -53
View File
@@ -1,10 +1,9 @@
from enum import IntFlag, StrEnum
from enum import IntFlag
from dataclasses import dataclass, field
from typing import Dict, List, Optional, Union
from cereal import car
from panda.python import uds
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
@@ -20,24 +19,89 @@ class ChryslerFlagsSP(IntFlag):
SP_WP_S20 = 2
class CAR(StrEnum):
@dataclass
class ChryslerCarInfo(CarInfo):
package: str = "Adaptive Cruise Control (ACC)"
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
@dataclass(frozen=True)
class ChryslerPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', None))
@dataclass(frozen=True)
class ChryslerCarSpecs(CarSpecs):
minSteerSpeed: float = 3.8 # m/s
class CAR(Platforms):
# Chrysler
PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
"CHRYSLER PACIFICA HYBRID 2017",
ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
specs=ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
)
PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
"CHRYSLER PACIFICA HYBRID 2018",
ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
specs=PACIFICA_2017_HYBRID.specs,
)
PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
"CHRYSLER PACIFICA HYBRID 2019",
ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
specs=PACIFICA_2017_HYBRID.specs,
)
PACIFICA_2018 = ChryslerPlatformConfig(
"CHRYSLER PACIFICA 2018",
ChryslerCarInfo("Chrysler Pacifica 2017-18"),
specs=PACIFICA_2017_HYBRID.specs,
)
PACIFICA_2020 = ChryslerPlatformConfig(
"CHRYSLER PACIFICA 2020",
[
ChryslerCarInfo("Chrysler Pacifica 2019-20"),
ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
],
specs=PACIFICA_2017_HYBRID.specs,
)
# Dodge
DODGE_DURANGO = "DODGE DURANGO 2021"
DODGE_DURANGO = ChryslerPlatformConfig(
"DODGE DURANGO 2021",
ChryslerCarInfo("Dodge Durango 2020-21"),
specs=PACIFICA_2017_HYBRID.specs,
)
# Jeep
JEEP_GRAND_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk
JEEP_GRAND_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig( # includes 2017 Trailhawk
"JEEP GRAND CHEROKEE V6 2018",
ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
specs=ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
)
JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig( # includes 2020 Trailhawk
"JEEP GRAND CHEROKEE 2019",
ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
specs=JEEP_GRAND_CHEROKEE.specs,
)
# Ram
RAM_1500 = "RAM 1500 5TH GEN"
RAM_HD = "RAM HD 5TH GEN"
RAM_1500 = ChryslerPlatformConfig(
"RAM 1500 5TH GEN",
ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
dbc_dict('chrysler_ram_dt_generated', None),
specs=ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
)
RAM_HD = ChryslerPlatformConfig(
"RAM HD 5TH GEN",
[
ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
],
dbc_dict('chrysler_ram_hd_generated', None),
specs=ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
)
class CarControllerParams:
@@ -73,32 +137,6 @@ RAM_HD = {CAR.RAM_HD, }
RAM_CARS = RAM_DT | RAM_HD
@dataclass
class ChryslerCarInfo(CarInfo):
package: str = "Adaptive Cruise Control (ACC)"
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
CAR.PACIFICA_2018_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
CAR.PACIFICA_2020: [
ChryslerCarInfo("Chrysler Pacifica 2019-20"),
ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
],
CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
CAR.DODGE_DURANGO: ChryslerCarInfo("Dodge Durango 2020-21"),
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
CAR.RAM_HD: [
ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
],
}
CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf132)
CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
@@ -138,16 +176,5 @@ FW_QUERY_CONFIG = FwQueryConfig(
],
)
DBC = {
CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.DODGE_DURANGO: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_GRAND_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_GRAND_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
CAR.RAM_HD: dbc_dict('chrysler_ram_hd_generated', None),
}
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
selfdrive/car/docs.py
+7 -8
View File
@@ -5,7 +5,6 @@ import jinja2
import os
from enum import Enum
from natsort import natsorted
from typing import Dict, List
from cereal import car
from openpilot.common.basedir import BASEDIR
@@ -14,7 +13,7 @@ from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFoot
from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
def get_all_footnotes() -> Dict[Enum, int]:
def get_all_footnotes() -> dict[Enum, int]:
all_footnotes = list(CommonFootnote)
for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
all_footnotes.extend(footnotes)
@@ -25,8 +24,8 @@ CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
def get_all_car_info() -> List[CarInfo]:
all_car_info: List[CarInfo] = []
def get_all_car_info() -> list[CarInfo]:
all_car_info: list[CarInfo] = []
footnotes = get_all_footnotes()
for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
# If available, uses experimental longitudinal limits for the docs
@@ -47,19 +46,19 @@ def get_all_car_info() -> List[CarInfo]:
all_car_info.append(_car_info)
# Sort cars by make and model + year
sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
sorted_cars: list[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
return sorted_cars
def group_by_make(all_car_info: List[CarInfo]) -> Dict[str, List[CarInfo]]:
def group_by_make(all_car_info: list[CarInfo]) -> dict[str, list[CarInfo]]:
sorted_car_info = defaultdict(list)
for car_info in all_car_info:
sorted_car_info[car_info.make].append(car_info)
return dict(sorted_car_info)
def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
with open(template_fn, "r") as f:
def generate_cars_md(all_car_info: list[CarInfo], template_fn: str) -> str:
with open(template_fn) as f:
template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
footnotes = [fn.value.text for fn in get_all_footnotes()]
selfdrive/car/docs_definitions.py
+16 -17
View File
@@ -3,7 +3,6 @@ from collections import namedtuple
import copy
from dataclasses import dataclass, field
from enum import Enum
from typing import Dict, List, Optional, Tuple, Union
from cereal import car
from openpilot.common.conversions import Conversions as CV
@@ -35,7 +34,7 @@ class Star(Enum):
@dataclass
class BasePart:
name: str
parts: List[Enum] = field(default_factory=list)
parts: list[Enum] = field(default_factory=list)
def all_parts(self):
# Recursively get all parts
@@ -76,7 +75,7 @@ class Accessory(EnumBase):
@dataclass
class BaseCarHarness(BasePart):
parts: List[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft])
parts: list[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft])
has_connector: bool = True # without are hidden on the harness connector page
@@ -149,18 +148,18 @@ class PartType(Enum):
tool = Tool
DEFAULT_CAR_PARTS: List[EnumBase] = [Device.threex]
DEFAULT_CAR_PARTS: list[EnumBase] = [Device.threex]
@dataclass
class CarParts:
parts: List[EnumBase] = field(default_factory=list)
parts: list[EnumBase] = field(default_factory=list)
def __call__(self):
return copy.deepcopy(self)
@classmethod
def common(cls, add: Optional[List[EnumBase]] = None, remove: Optional[List[EnumBase]] = 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)
@@ -186,7 +185,7 @@ class CommonFootnote(Enum):
Column.LONGITUDINAL)
def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]:
def get_footnotes(footnotes: list[Enum], column: Column) -> list[Enum]:
# Returns applicable footnotes given current column
return [fn for fn in footnotes if fn.value.column == column]
@@ -209,7 +208,7 @@ def get_year_list(years):
return years_list
def split_name(name: str) -> Tuple[str, str, str]:
def split_name(name: str) -> tuple[str, str, str]:
make, model = name.split(" ", 1)
years = ""
match = re.search(MODEL_YEARS_RE, model)
@@ -233,13 +232,13 @@ class CarInfo:
# the minimum compatibility requirements for this model, regardless
# of market. can be a package, trim, or list of features
requirements: Optional[str] = None
requirements: str | None = None
video_link: Optional[str] = None
footnotes: List[Enum] = field(default_factory=list)
min_steer_speed: Optional[float] = None
min_enable_speed: Optional[float] = None
auto_resume: Optional[bool] = None
video_link: str | None = None
footnotes: list[Enum] = field(default_factory=list)
min_steer_speed: float | None = None
min_enable_speed: float | None = None
auto_resume: bool | None = None
# all the parts needed for the supported car
car_parts: CarParts = field(default_factory=CarParts)
@@ -248,7 +247,7 @@ class CarInfo:
self.make, self.model, self.years = split_name(self.name)
self.year_list = get_year_list(self.years)
def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
def init(self, CP: car.CarParams, all_footnotes: dict[Enum, int]):
self.car_name = CP.carName
self.car_fingerprint = CP.carFingerprint
@@ -293,7 +292,7 @@ class CarInfo:
if len(tools_docs):
hardware_col += f'<details><summary>Tools</summary><sub>{display_func(tools_docs)}</sub></details>'
self.row: Dict[Enum, Union[str, Star]] = {
self.row: dict[Enum, str | Star] = {
Column.MAKE: self.make,
Column.MODEL: self.model,
Column.PACKAGE: self.package,
@@ -352,7 +351,7 @@ class CarInfo:
raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
def get_column(self, column: Column, star_icon: str, video_icon: str, footnote_tag: str) -> str:
item: Union[str, Star] = self.row[column]
item: str | Star = self.row[column]
if isinstance(item, Star):
item = star_icon.format(item.value)
elif column == Column.MODEL and len(self.years):
selfdrive/car/ecu_addrs.py
+6 -7
View File
@@ -1,7 +1,6 @@
#!/usr/bin/env python3
import capnp
import time
from typing import Optional, Set
import cereal.messaging as messaging
from panda.python.uds import SERVICE_TYPE
@@ -20,7 +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: Optional[int] = 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
@@ -34,16 +33,16 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd
return False
def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[EcuAddrBusType]:
def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
queries: Set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
responses = queries
return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)
def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[EcuAddrBusType],
responses: Set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> Set[EcuAddrBusType]:
ecu_responses: Set[EcuAddrBusType] = set() # set((addr, subaddr, bus),)
def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: set[EcuAddrBusType],
responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]:
ecu_responses: set[EcuAddrBusType] = set() # set((addr, subaddr, bus),)
try:
msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
selfdrive/car/ford/carstate.py
-7
View File
@@ -18,7 +18,6 @@ class CarState(CarStateBase):
self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
self.vehicle_sensors_valid = False
self.unsupported_platform = False
self.lkas_enabled = None
self.prev_lkas_enabled = None
@@ -32,12 +31,6 @@ class CarState(CarStateBase):
self.prev_lkas_enabled = self.lkas_enabled
self.buttonStatesPrev = self.buttonStates.copy()
# Ford Q3 hybrid variants experience a bug where a message from the PCM sends invalid checksums,
# this must be root-caused before enabling support. Ford Q4 hybrids do not have this problem.
# TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants
self.unsupported_platform = (cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 and
self.CP.carFingerprint not in CANFD_CAR)
# 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
self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3
selfdrive/car/ford/interface.py
+1 -48
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, create_mads_event
from openpilot.selfdrive.car.ford.fordcan import CanBus
from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu, BUTTON_STATES
from openpilot.selfdrive.car.ford.values import CANFD_CAR, Ecu, BUTTON_STATES
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
@@ -45,51 +45,6 @@ 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:
@@ -169,8 +124,6 @@ class CarInterface(CarInterfaceBase):
if not self.CS.vehicle_sensors_valid:
events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
if self.CS.unsupported_platform:
events.add(car.CarEvent.EventName.startupNoControl)
ret.events = events.to_msg()
selfdrive/car/ford/tests/test_ford.py
+3 -2
View File
@@ -1,7 +1,7 @@
#!/usr/bin/env python3
import unittest
from parameterized import parameterized
from typing import Dict, Iterable, Optional, Tuple
from collections.abc import Iterable
import capnp
@@ -19,6 +19,7 @@ ECU_ADDRESSES = {
Ecu.fwdCamera: 0x706, # Image Processing Module A (IPMA)
Ecu.engine: 0x7E0, # Powertrain Control Module (PCM)
Ecu.shiftByWire: 0x732, # Gear Shift Module (GSM)
Ecu.debug: 0x7D0, # Accessory Protocol Interface Module (APIM)
}
@@ -50,7 +51,7 @@ class TestFordFW(unittest.TestCase):
self.assertIsNone(subaddr, "Unexpected ECU subaddress")
@parameterized.expand(FW_VERSIONS.items())
def test_fw_versions(self, car_model: str, fw_versions: Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], Iterable[bytes]]):
def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[capnp.lib.capnp._EnumModule, int, int | None], Iterable[bytes]]):
for (ecu, addr, subaddr), fws in fw_versions.items():
self.assertIn(ecu, ECU_FW_CORE, "Unexpected ECU")
self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch")
selfdrive/car/ford/values.py
+124 -50
View File
@@ -1,13 +1,12 @@
from collections import defaultdict
from dataclasses import dataclass
from enum import Enum, StrEnum
from typing import Dict, List, Union
from dataclasses import dataclass, field
from enum import Enum
import panda.python.uds as uds
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
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
Ecu = car.CarParams.Ecu
@@ -50,33 +49,11 @@ BUTTON_STATES = {
}
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 " +
@@ -97,25 +74,109 @@ class FordCarInfo(CarInfo):
self.car_parts = CarParts([Device.threex, harness])
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
CAR.ESCAPE_MK4: [
FordCarInfo("Ford Escape 2020-22"),
FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
],
CAR.EXPLORER_MK6: [
FordCarInfo("Ford Explorer 2020-23"),
FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
],
CAR.F_150_MK14: FordCarInfo("Ford F-150 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]),
CAR.MAVERICK_MK1: [
FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
],
}
@dataclass(frozen=True)
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}
DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00
ASBUILT_BLOCKS: list[tuple[int, list]] = [
(1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]),
(2, [Ecu.abs, Ecu.debug, Ecu.eps]),
(3, [Ecu.abs, Ecu.debug, Ecu.eps]),
(4, [Ecu.debug, Ecu.fwdCamera]),
(5, [Ecu.debug]),
(6, [Ecu.debug]),
(7, [Ecu.debug]),
(8, [Ecu.debug]),
(9, [Ecu.debug]),
(16, [Ecu.debug, Ecu.fwdCamera]),
(18, [Ecu.fwdCamera]),
(20, [Ecu.fwdCamera]),
(21, [Ecu.fwdCamera]),
]
def ford_asbuilt_block_request(block_id: int):
return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
def ford_asbuilt_block_response(block_id: int):
return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
@@ -124,18 +185,31 @@ FW_QUERY_CONFIG = FwQueryConfig(
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
logging=True,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
bus=0,
auxiliary=True,
),
*[Request(
[StdQueries.TESTER_PRESENT_REQUEST, ford_asbuilt_block_request(block_id)],
[StdQueries.TESTER_PRESENT_RESPONSE, ford_asbuilt_block_response(block_id)],
whitelist_ecus=ecus,
bus=0,
logging=True,
) for block_id, ecus in ASBUILT_BLOCKS],
],
extra_ecus=[
# We are unlikely to get a response from the PCM from behind the gateway
(Ecu.engine, 0x7e0, None),
(Ecu.shiftByWire, 0x732, None),
(Ecu.engine, 0x7e0, None), # Powertrain Control Module
# Note: We are unlikely to get a response from behind the gateway
(Ecu.shiftByWire, 0x732, None), # Gear Shift Module
(Ecu.debug, 0x7d0, None), # Accessory Protocol Interface Module
],
)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
selfdrive/car/fw_query_definitions.py
+13 -13
View File
@@ -3,16 +3,16 @@ import capnp
import copy
from dataclasses import dataclass, field
import struct
from typing import Callable, Dict, List, Optional, Set, Tuple
from collections.abc import Callable
import panda.python.uds as uds
AddrType = Tuple[int, Optional[int]]
EcuAddrBusType = Tuple[int, Optional[int], int]
EcuAddrSubAddr = Tuple[int, int, Optional[int]]
AddrType = tuple[int, int | None]
EcuAddrBusType = tuple[int, int | None, int]
EcuAddrSubAddr = tuple[int, int, int | None]
LiveFwVersions = Dict[AddrType, Set[bytes]]
OfflineFwVersions = Dict[str, Dict[EcuAddrSubAddr, List[bytes]]]
LiveFwVersions = dict[AddrType, set[bytes]]
OfflineFwVersions = dict[str, dict[EcuAddrSubAddr, list[bytes]]]
# A global list of addresses we will only ever consider for VIN responses
# engine, hybrid controller, Ford abs, Hyundai CAN FD cluster, 29-bit engine, PGM-FI
@@ -71,9 +71,9 @@ class StdQueries:
@dataclass
class Request:
request: List[bytes]
response: List[bytes]
whitelist_ecus: List[int] = field(default_factory=list)
request: list[bytes]
response: list[bytes]
whitelist_ecus: list[int] = field(default_factory=list)
rx_offset: int = 0x8
bus: int = 1
# Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
@@ -86,15 +86,15 @@ class Request:
@dataclass
class FwQueryConfig:
requests: List[Request]
requests: list[Request]
# TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
# Overrides and removes from essential ecus for specific models and ecus (exact matching)
non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
non_essential_ecus: dict[capnp.lib.capnp._EnumModule, list[str]] = field(default_factory=dict)
# Ecus added for data collection, not to be fingerprinted on
extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)
extra_ecus: list[tuple[capnp.lib.capnp._EnumModule, int, int | None]] = field(default_factory=list)
# Function a brand can implement to provide better fuzzy matching. Takes in FW versions,
# returns set of candidates. Only will match if one candidate is returned
match_fw_to_car_fuzzy: Optional[Callable[[LiveFwVersions, OfflineFwVersions], Set[str]]] = None
match_fw_to_car_fuzzy: Callable[[LiveFwVersions, OfflineFwVersions], set[str]] | None = None
def __post_init__(self):
for i in range(len(self.requests)):
selfdrive/car/fw_versions.py
+14 -13
View File
@@ -1,6 +1,7 @@
#!/usr/bin/env python3
from collections import defaultdict
from typing import Any, DefaultDict, Dict, Iterator, List, Optional, Set, TypeVar
from typing import Any, TypeVar
from collections.abc import Iterator
from tqdm import tqdm
import capnp
@@ -27,19 +28,19 @@ REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for
T = TypeVar('T')
def chunks(l: List[T], n: int = 128) -> Iterator[List[T]]:
def chunks(l: list[T], n: int = 128) -> Iterator[list[T]]:
for i in range(0, len(l), n):
yield l[i:i + n]
def is_brand(brand: str, filter_brand: Optional[str]) -> bool:
def is_brand(brand: str, filter_brand: str | None) -> bool:
"""Returns if brand matches filter_brand or no brand filter is specified"""
return filter_brand is None or brand == filter_brand
def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder],
filter_brand: Optional[str] = None) -> Dict[AddrType, Set[bytes]]:
fw_versions_dict: DefaultDict[AddrType, Set[bytes]] = defaultdict(set)
def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder],
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:
sub_addr = fw.subAddress if fw.subAddress != 0 else None
@@ -97,7 +98,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=
return set()
def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> Set[str]:
def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> set[str]:
"""Do an exact FW match. Returns all cars that match the given
FW versions for a list of "essential" ECUs. If an ECU is not considered
essential the FW version can be missing to get a fingerprint, but if it's present it
@@ -164,11 +165,11 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
return True, set()
def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
def get_present_ecus(logcan, sendcan, num_pandas=1) -> set[EcuAddrBusType]:
params = Params()
# queries are split by OBD multiplexing mode
queries: Dict[bool, List[List[EcuAddrBusType]]] = {True: [], False: []}
parallel_queries: Dict[bool, List[EcuAddrBusType]] = {True: [], False: []}
queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []}
parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []}
responses = set()
for brand, config, r in REQUESTS:
@@ -203,7 +204,7 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
return ecu_responses
def get_brand_ecu_matches(ecu_rx_addrs: Set[EcuAddrBusType]) -> dict[str, set[AddrType]]:
def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, set[AddrType]]:
"""Returns dictionary of brands and matches with ECUs in their FW versions"""
brand_addrs = {brand: {(addr, subaddr) for _, addr, subaddr in config.get_all_ecus(VERSIONS[brand])} for
@@ -231,7 +232,7 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
List[capnp.lib.capnp._DynamicStructBuilder]:
list[capnp.lib.capnp._DynamicStructBuilder]:
"""Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
all_car_fw = []
@@ -254,7 +255,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
List[capnp.lib.capnp._DynamicStructBuilder]:
list[capnp.lib.capnp._DynamicStructBuilder]:
versions = VERSIONS.copy()
params = Params()
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 -46
View File
@@ -1,10 +1,8 @@
from collections import defaultdict
from dataclasses import dataclass
from enum import Enum, StrEnum
from typing import Dict, List, Union
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
@@ -62,23 +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>. ' +
@@ -98,28 +79,88 @@ class GMCarInfo(CarInfo):
self.footnotes.append(Footnote.OBD_II)
CAR_INFO: Dict[str, Union[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(frozen=True)
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:
@@ -181,11 +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/honda/values.py
+3 -2
View File
@@ -1,6 +1,5 @@
from dataclasses import dataclass
from enum import Enum, IntFlag, StrEnum
from typing import Dict, List, Optional, Union
from cereal import car
from openpilot.common.conversions import Conversions as CV
@@ -126,7 +125,7 @@ class HondaCarInfo(CarInfo):
self.car_parts = CarParts.common([CarHarness.nidec])
CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
CAR_INFO: dict[str, HondaCarInfo | list[HondaCarInfo] | None] = {
CAR.ACCORD: [
HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
@@ -220,6 +219,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
Ecu.combinationMeter: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.gateway: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.electricBrakeBooster: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.shiftByWire: [CAR.ACCORD], # existence correlates with transmission type for ICE
Ecu.hud: [CAR.ACCORD, CAR.ACCORDH], # existence correlates with trim level
},
extra_ecus=[
# The only other ECU on PT bus accessible by camera on radarless Civic
selfdrive/car/hyundai/values.py
+4 -5
View File
@@ -1,7 +1,6 @@
import re
from dataclasses import dataclass
from enum import Enum, IntFlag, StrEnum
from typing import Dict, List, Optional, Set, Tuple, Union
from cereal import car
from panda.python import uds
@@ -173,7 +172,7 @@ class HyundaiCarInfo(CarInfo):
self.footnotes.insert(0, Footnote.CANFD)
CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR_INFO: dict[str, HyundaiCarInfo | list[HyundaiCarInfo] | None] = {
CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.AZERA_HEV_6TH_GEN: [
HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
@@ -341,7 +340,7 @@ class Buttons:
CANCEL = 4 # on newer models, this is a pause/resume button
def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]:
def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:
# Returns unique, platform-specific identification codes for a set of versions
codes = set() # (code-Optional[part], date)
for fw in fw_versions:
@@ -360,12 +359,12 @@ def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[by
return codes
def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> set[str]:
# Non-electric CAN FD platforms often do not have platform code specifiers needed
# to distinguish between hybrid and ICE. All EVs so far are either exclusively
# electric or specify electric in the platform code.
fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)}
candidates: Set[str] = set()
candidates: set[str] = set()
for candidate, fws in offline_fw_versions.items():
# Keep track of ECUs which pass all checks (platform codes, within date range)
selfdrive/car/interfaces.py
+24 -12
View File
@@ -7,7 +7,8 @@ import tomllib
from abc import abstractmethod, ABC
from difflib import SequenceMatcher
from enum import StrEnum
from typing import Any, Dict, Optional, Tuple, List, Callable, NamedTuple
from typing import Any, NamedTuple
from collections.abc import Callable
from cereal import car
from openpilot.common.basedir import BASEDIR
@@ -17,6 +18,7 @@ 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.values import Platform
from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN
from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, get_friction
from openpilot.selfdrive.controls.lib.events import Events
@@ -258,15 +260,25 @@ 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"):
if candidate.config.specs is not None:
ret.mass = candidate.config.specs.mass
ret.wheelbase = candidate.config.specs.wheelbase
ret.steerRatio = candidate.config.specs.steerRatio
ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio
ret.minEnableSpeed = candidate.config.specs.minEnableSpeed
ret.minSteerSpeed = candidate.config.specs.minSteerSpeed
ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
params = Params()
@@ -302,8 +314,8 @@ class CarInterfaceBase(ABC):
@staticmethod
@abstractmethod
def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]],
car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
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
@staticmethod
@@ -395,7 +407,7 @@ class CarInterfaceBase(ABC):
def _update(self, c: car.CarControl) -> car.CarState:
pass
def update(self, c: car.CarControl, can_strings: List[bytes]) -> car.CarState:
def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState:
# parse can
for cp in self.can_parsers:
if cp is not None:
@@ -429,7 +441,7 @@ class CarInterfaceBase(ABC):
return reader
@abstractmethod
def apply(self, c: car.CarControl, now_nanos: int) -> Tuple[car.CarControl.Actuators, List[bytes]]:
def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[bytes]]:
pass
def create_common_events(self, cs_out, c, extra_gears=None, pcm_enable=True, allow_enable=True,
@@ -860,11 +872,11 @@ class CarStateBase(ABC):
return customStockLong
@staticmethod
def parse_gear_shifter(gear: Optional[str]) -> car.CarState.GearShifter:
def parse_gear_shifter(gear: str | None) -> car.CarState.GearShifter:
if gear is None:
return GearShifter.unknown
d: Dict[str, car.CarState.GearShifter] = {
d: dict[str, car.CarState.GearShifter] = {
'P': GearShifter.park, 'PARK': GearShifter.park,
'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
@@ -901,7 +913,7 @@ INTERFACE_ATTR_FILE = {
# interface-specific helpers
def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[str | StrEnum, Any]:
def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> dict[str | StrEnum, Any]:
# read all the folders in selfdrive/car and return a dict where:
# - keys are all the car models or brand names
# - values are attr values from all car folders
@@ -934,7 +946,7 @@ class NanoFFModel:
self.load_weights(platform)
def load_weights(self, platform: str):
with open(self.weights_loc, 'r') as fob:
with open(self.weights_loc) as fob:
self.weights = {k: np.array(v) for k, v in json.load(fob)[platform].items()}
def relu(self, x: np.ndarray):
@@ -949,7 +961,7 @@ class NanoFFModel:
x = np.dot(x, self.weights['w_4']) + self.weights['b_4']
return x
def predict(self, x: List[float], do_sample: bool = False):
def predict(self, x: list[float], do_sample: bool = False):
x = self.forward(np.array(x))
if do_sample:
pred = np.random.laplace(x[0], np.exp(x[1]) / self.weights['temperature'])
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/mazda/values.py
+1 -2
View File
@@ -1,6 +1,5 @@
from dataclasses import dataclass, field
from enum import StrEnum
from typing import Dict, List, Union
from cereal import car
from openpilot.selfdrive.car import dbc_dict
@@ -49,7 +48,7 @@ class MazdaCarInfo(CarInfo):
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda]))
CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
CAR_INFO: dict[str, MazdaCarInfo | list[MazdaCarInfo]] = {
CAR.CX5: MazdaCarInfo("Mazda CX-5 2017-21"),
CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"),
CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
selfdrive/car/mock/values.py
+1 -2
View File
@@ -1,5 +1,4 @@
from enum import StrEnum
from typing import Dict, List, Optional, Union
from openpilot.selfdrive.car.docs_definitions import CarInfo
@@ -8,6 +7,6 @@ class CAR(StrEnum):
MOCK = 'mock'
CAR_INFO: Dict[str, Optional[Union[CarInfo, List[CarInfo]]]] = {
CAR_INFO: dict[str, CarInfo | list[CarInfo] | None] = {
CAR.MOCK: None,
}
selfdrive/car/nissan/interface.py
+1 -13
View File
@@ -19,25 +19,13 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.1
ret.steerRatio = 17
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.radarUnavailable = True
if candidate in (CAR.ROGUE, CAR.XTRAIL):
ret.mass = 1610
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
elif candidate in (CAR.LEAF, CAR.LEAF_IC):
ret.mass = 1610
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
elif candidate == CAR.ALTIMA:
if candidate == CAR.ALTIMA:
# Altima has EPS on C-CAN unlike the others that have it on V-CAN
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
ret.mass = 1492
ret.wheelbase = 2.824
ret.centerToFront = ret.wheelbase * 0.44
return ret
selfdrive/car/nissan/values.py
+46 -28
View File
@@ -1,10 +1,8 @@
from dataclasses import dataclass, field
from enum import StrEnum
from typing import Dict, List, Optional, Union
from cereal import car
from panda.python import uds
from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@@ -21,29 +19,57 @@ class CarControllerParams:
pass
class CAR(StrEnum):
XTRAIL = "NISSAN X-TRAIL 2017"
LEAF = "NISSAN LEAF 2018"
# Leaf with ADAS ECU found behind instrument cluster instead of glovebox
# Currently the only known difference between them is the inverted seatbelt signal.
LEAF_IC = "NISSAN LEAF 2018 Instrument Cluster"
ROGUE = "NISSAN ROGUE 2019"
ALTIMA = "NISSAN ALTIMA 2020"
@dataclass
class NissanCarInfo(CarInfo):
package: str = "ProPILOT Assist"
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
CAR.LEAF_IC: NissanCarInfo("Nissan Leaf Instrument Cluster 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"), # same platforms
CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
}
@dataclass(frozen=True)
class NissanCarSpecs(CarSpecs):
centerToFrontRatio: float = 0.44
steerRatio: float = 17.
@dataclass(frozen=True)
class NissanPlaformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('nissan_x_trail_2017_generated', None))
class CAR(Platforms):
XTRAIL = NissanPlaformConfig(
"NISSAN X-TRAIL 2017",
NissanCarInfo("Nissan X-Trail 2017"),
specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
)
LEAF = NissanPlaformConfig(
"NISSAN LEAF 2018",
NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
dbc_dict=dbc_dict('nissan_leaf_2018_generated', None),
specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
)
# Leaf with ADAS ECU found behind instrument cluster instead of glovebox
# Currently the only known difference between them is the inverted seatbelt signal.
LEAF_IC = NissanPlaformConfig(
"NISSAN LEAF 2018 Instrument Cluster",
NissanCarInfo("Nissan Leaf Instrument Cluster 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
dbc_dict=dbc_dict('nissan_leaf_2018_generated', None),
specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
)
ROGUE = NissanPlaformConfig(
"NISSAN ROGUE 2019",
NissanCarInfo("Nissan Rogue 2018-20"),
specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
)
ALTIMA = NissanPlaformConfig(
"NISSAN ALTIMA 2020",
NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
specs=NissanCarSpecs(mass=1492, wheelbase=2.824)
)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
# Default diagnostic session
NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81])
@@ -89,11 +115,3 @@ FW_QUERY_CONFIG = FwQueryConfig(
),
]],
)
DBC = {
CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None),
CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None),
CAR.LEAF_IC: dbc_dict('nissan_leaf_2018_generated', None),
CAR.ROGUE: dbc_dict('nissan_x_trail_2017_generated', None),
CAR.ALTIMA: dbc_dict('nissan_x_trail_2017_generated', None),
}
selfdrive/car/subaru/interface.py
+3 -37
View File
@@ -1,6 +1,7 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config, create_mads_event
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, SubaruFlagsSP
@@ -13,7 +14,7 @@ GearShifter = car.CarState.GearShifter
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:
@@ -50,10 +51,6 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in (CAR.ASCENT, CAR.ASCENT_2023):
ret.mass = 2031.
ret.wheelbase = 2.89
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13.5
ret.steerActuatorDelay = 0.3 # end-to-end angle controller
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00003
@@ -61,10 +58,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
elif candidate == CAR.IMPREZA:
ret.mass = 1568.
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00005
@@ -79,58 +72,31 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.133, 0.2], [0.0133, 0.02]]
elif candidate == CAR.IMPREZA_2020:
ret.mass = 1480.
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
elif candidate == CAR.CROSSTREK_HYBRID:
ret.mass = 1668.
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17
ret.steerActuatorDelay = 0.1
elif candidate in (CAR.FORESTER, CAR.FORESTER_2022, CAR.FORESTER_HYBRID):
ret.mass = 1568.
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.000038
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023):
ret.mass = 1568.
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17
ret.steerActuatorDelay = 0.1
elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE # Outback 2018-2019 and Forester have reversed driver torque signal
ret.mass = 1568
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock
elif candidate == CAR.LEGACY_PREGLOBAL:
ret.mass = 1568
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 12.5 # 14.5 stock
ret.steerActuatorDelay = 0.15
elif candidate == CAR.OUTBACK_PREGLOBAL:
ret.mass = 1568
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock
pass
else:
raise ValueError(f"unknown car: {candidate}")
selfdrive/car/subaru/values.py
+105 -67
View File
@@ -1,11 +1,10 @@
from dataclasses import dataclass, field
from enum import Enum, IntFlag, StrEnum
from enum import Enum, IntFlag
from panda import Panda
from typing import Dict, List, Union
from cereal import car
from panda.python import uds
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
@@ -75,27 +74,6 @@ class CanBus:
camera = 2
class CAR(StrEnum):
# Global platform
ASCENT = "SUBARU ASCENT LIMITED 2019"
ASCENT_2023 = "SUBARU ASCENT 2023"
IMPREZA = "SUBARU IMPREZA LIMITED 2019"
IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
FORESTER = "SUBARU FORESTER 2019"
OUTBACK = "SUBARU OUTBACK 6TH GEN"
CROSSTREK_HYBRID = "SUBARU CROSSTREK HYBRID 2020"
FORESTER_HYBRID = "SUBARU FORESTER HYBRID 2020"
LEGACY = "SUBARU LEGACY 7TH GEN"
FORESTER_2022 = "SUBARU FORESTER 2022"
OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN"
# Pre-global
FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
class Footnote(Enum):
GLOBAL = CarFootnote(
"In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.",
@@ -109,7 +87,7 @@ class Footnote(Enum):
class SubaruCarInfo(CarInfo):
package: str = "EyeSight Driver Assistance"
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a]))
footnotes: List[Enum] = field(default_factory=lambda: [Footnote.GLOBAL])
footnotes: list[Enum] = field(default_factory=lambda: [Footnote.GLOBAL])
def init_make(self, CP: car.CarParams):
self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool])
@@ -117,32 +95,107 @@ class SubaruCarInfo(CarInfo):
if CP.experimentalLongitudinalAvailable:
self.footnotes.append(Footnote.EXP_LONG)
CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
CAR.IMPREZA: [
SubaruCarInfo("Subaru Impreza 2017-19"),
SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
],
CAR.IMPREZA_2020: [
SubaruCarInfo("Subaru Impreza 2020-22"),
SubaruCarInfo("Subaru Crosstrek 2020-23"),
SubaruCarInfo("Subaru XV 2020-21"),
],
@dataclass(frozen=True)
class SubaruPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('subaru_global_2017_generated', None))
class CAR(Platforms):
# Global platform
ASCENT = SubaruPlatformConfig(
"SUBARU ASCENT LIMITED 2019",
SubaruCarInfo("Subaru Ascent 2019-21", "All"),
specs=CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
)
OUTBACK = SubaruPlatformConfig(
"SUBARU OUTBACK 6TH GEN",
SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
)
LEGACY = SubaruPlatformConfig(
"SUBARU LEGACY 7TH GEN",
SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
specs=OUTBACK.specs,
)
IMPREZA = SubaruPlatformConfig(
"SUBARU IMPREZA LIMITED 2019",
[
SubaruCarInfo("Subaru Impreza 2017-19"),
SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
],
specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15),
)
IMPREZA_2020 = SubaruPlatformConfig(
"SUBARU IMPREZA SPORT 2020",
[
SubaruCarInfo("Subaru Impreza 2020-22"),
SubaruCarInfo("Subaru Crosstrek 2020-23"),
SubaruCarInfo("Subaru XV 2020-21"),
],
specs=CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17),
)
# TODO: is there an XV and Impreza too?
CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"),
CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
}
CROSSTREK_HYBRID = SubaruPlatformConfig(
"SUBARU CROSSTREK HYBRID 2020",
SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
dbc_dict('subaru_global_2020_hybrid_generated', None),
specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
)
FORESTER = SubaruPlatformConfig(
"SUBARU FORESTER 2019",
SubaruCarInfo("Subaru Forester 2019-21", "All"),
specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
)
FORESTER_HYBRID = SubaruPlatformConfig(
"SUBARU FORESTER HYBRID 2020",
SubaruCarInfo("Subaru Forester Hybrid 2020"),
dbc_dict('subaru_global_2020_hybrid_generated', None),
specs=FORESTER.specs,
)
# Pre-global
FORESTER_PREGLOBAL = SubaruPlatformConfig(
"SUBARU FORESTER 2017 - 2018",
SubaruCarInfo("Subaru Forester 2017-18"),
dbc_dict('subaru_forester_2017_generated', None),
specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
)
LEGACY_PREGLOBAL = SubaruPlatformConfig(
"SUBARU LEGACY 2015 - 2018",
SubaruCarInfo("Subaru Legacy 2015-18"),
dbc_dict('subaru_outback_2015_generated', None),
specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
)
OUTBACK_PREGLOBAL = SubaruPlatformConfig(
"SUBARU OUTBACK 2015 - 2017",
SubaruCarInfo("Subaru Outback 2015-17"),
dbc_dict('subaru_outback_2015_generated', None),
specs=FORESTER_PREGLOBAL.specs,
)
OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
"SUBARU OUTBACK 2018 - 2019",
SubaruCarInfo("Subaru Outback 2018-19"),
dbc_dict('subaru_outback_2019_generated', None),
specs=FORESTER_PREGLOBAL.specs,
)
# Angle LKAS
FORESTER_2022 = SubaruPlatformConfig(
"SUBARU FORESTER 2022",
SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
specs=FORESTER.specs,
)
OUTBACK_2023 = SubaruPlatformConfig(
"SUBARU OUTBACK 7TH GEN",
SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
specs=OUTBACK.specs,
)
ASCENT_2023 = SubaruPlatformConfig(
"SUBARU ASCENT 2023",
SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
specs=ASCENT.specs,
)
LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
@@ -193,20 +246,5 @@ FW_QUERY_CONFIG = FwQueryConfig(
}
)
DBC = {
CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
CAR.ASCENT_2023: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None),
CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
CAR.CROSSTREK_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
CAR.OUTBACK_2023: dbc_dict('subaru_global_2017_generated', None),
CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
}
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
selfdrive/car/tesla/values.py
+1 -2
View File
@@ -1,6 +1,5 @@
from collections import namedtuple
from enum import StrEnum
from typing import Dict, List, Union
from cereal import car
from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
@@ -17,7 +16,7 @@ class CAR(StrEnum):
AP2_MODELS = 'TESLA AP2 MODEL S'
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR_INFO: dict[str, CarInfo | list[CarInfo]] = {
CAR.AP1_MODELS: CarInfo("Tesla AP1 Model S", "All"),
CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"),
}
selfdrive/car/tests/routes.py
+3 -3
View File
@@ -1,5 +1,5 @@
#!/usr/bin/env python3
from typing import NamedTuple, Optional
from typing import NamedTuple
from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
from openpilot.selfdrive.car.gm.values import CAR as GM
@@ -29,8 +29,8 @@ non_tested_cars = [
class CarTestRoute(NamedTuple):
route: str
car_model: Optional[str]
segment: Optional[int] = None
car_model: str | None
segment: int | None = None
routes = [
selfdrive/car/tests/test_docs.py
+2 -2
View File
@@ -20,7 +20,7 @@ class TestCarDocs(unittest.TestCase):
def test_generator(self):
generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
with open(CARS_MD_OUT, "r") as f:
with open(CARS_MD_OUT) as f:
current_cars_md = f.read()
self.assertEqual(generated_cars_md, current_cars_md,
@@ -45,7 +45,7 @@ class TestCarDocs(unittest.TestCase):
all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys()
for platform in sorted(interfaces.keys()):
with self.subTest(platform=platform):
self.assertTrue(platform in all_car_info_platforms, "Platform: {} doesn't exist in CarInfo".format(platform))
self.assertTrue(platform in all_car_info_platforms, f"Platform: {platform} doesn't exist in CarInfo")
def test_naming_conventions(self):
# Asserts market-standard car naming conventions by brand
selfdrive/car/tests/test_fingerprints.py
+1 -2
View File
@@ -1,7 +1,6 @@
#!/usr/bin/env python3
import os
import sys
from typing import Dict, List
from openpilot.common.basedir import BASEDIR
@@ -64,7 +63,7 @@ def check_can_ignition_conflicts(fingerprints, brands):
if __name__ == "__main__":
fingerprints = _get_fingerprints()
fingerprints_flat: List[Dict] = []
fingerprints_flat: list[dict] = []
car_names = []
brand_names = []
for brand in fingerprints:
selfdrive/car/tests/test_fw_fingerprint.py
+4 -4
View File
@@ -263,13 +263,13 @@ class TestFwFingerprintTiming(unittest.TestCase):
print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
def test_fw_query_timing(self):
total_ref_time = {1: 6.05, 2: 6.95}
total_ref_time = {1: 7.8, 2: 8.7}
brand_ref_times = {
1: {
'gm': 0.5,
'body': 0.1,
'chrysler': 0.3,
'ford': 0.2,
'ford': 1.5,
'honda': 0.55,
'hyundai': 1.05,
'mazda': 0.1,
@@ -277,10 +277,10 @@ class TestFwFingerprintTiming(unittest.TestCase):
'subaru': 0.45,
'tesla': 0.2,
'toyota': 1.6,
'volkswagen': 0.2,
'volkswagen': 0.65,
},
2: {
'ford': 0.3,
'ford': 1.6,
'hyundai': 1.85,
}
}
selfdrive/car/tests/test_lateral_limits.py
+1 -2
View File
@@ -3,7 +3,6 @@ from collections import defaultdict
import importlib
from parameterized import parameterized_class
import sys
from typing import DefaultDict, Dict
import unittest
from openpilot.common.realtime import DT_CTRL
@@ -29,7 +28,7 @@ ABOVE_LIMITS_CARS = [
SUBARU.OUTBACK,
]
car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict)
@parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])
selfdrive/car/tests/test_models.py
+8 -9
View File
@@ -8,7 +8,6 @@ import unittest
from collections import defaultdict, Counter
import hypothesis.strategies as st
from hypothesis import Phase, given, settings
from typing import List, Optional, Tuple
from parameterized import parameterized_class
from cereal import messaging, log, car
@@ -40,7 +39,7 @@ MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "300"))
CI = os.environ.get("CI", None) is not None
def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
# build list of test cases
test_cases = []
if not len(INTERNAL_SEG_LIST):
@@ -50,7 +49,7 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
for i, c in enumerate(sorted(all_known_cars())):
if i % NUM_JOBS == JOB_ID:
test_cases.extend(sorted((c.value, r) for r in routes_by_car.get(c, (None,))))
test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,))))
else:
segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST))
@@ -65,14 +64,14 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
@pytest.mark.slow
@pytest.mark.shared_download_cache
class TestCarModelBase(unittest.TestCase):
car_model: Optional[str] = None
test_route: Optional[CarTestRoute] = None
car_model: str | None = None
test_route: CarTestRoute | None = None
test_route_on_bucket: bool = True # whether the route is on the preserved CI bucket
can_msgs: List[capnp.lib.capnp._DynamicStructReader]
can_msgs: list[capnp.lib.capnp._DynamicStructReader]
fingerprint: dict[int, dict[int, int]]
elm_frame: Optional[int]
car_safety_mode_frame: Optional[int]
elm_frame: int | None
car_safety_mode_frame: int | None
@classmethod
def get_testing_data_from_logreader(cls, lr):
@@ -408,7 +407,7 @@ class TestCarModelBase(unittest.TestCase):
controls_allowed_prev = False
CS_prev = car.CarState.new_message()
checks = defaultdict(lambda: 0)
checks = defaultdict(int)
controlsd = Controls(CI=self.CI)
controlsd.initialized = True
for idx, can in enumerate(self.can_msgs):
selfdrive/car/toyota/fingerprints.py
+3
View File
@@ -573,6 +573,7 @@ FW_VERSIONS = {
b'\x018821F6201400\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F12010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F1201200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
@@ -843,6 +844,7 @@ FW_VERSIONS = {
b'8965B47023\x00\x00\x00\x00\x00\x00',
b'8965B47050\x00\x00\x00\x00\x00\x00',
b'8965B47060\x00\x00\x00\x00\x00\x00',
b'8965B47070\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152647290\x00\x00\x00\x00\x00\x00',
@@ -1024,6 +1026,7 @@ FW_VERSIONS = {
b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x02896634A13101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x02896634A13201\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
selfdrive/car/toyota/values.py
+3 -4
View File
@@ -2,7 +2,6 @@ import re
from collections import defaultdict
from dataclasses import dataclass, field
from enum import Enum, IntFlag, StrEnum
from typing import Dict, List, Set, Union
from cereal import car
from openpilot.common.conversions import Conversions as CV
@@ -104,7 +103,7 @@ class ToyotaCarInfo(CarInfo):
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota_a]))
CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR_INFO: dict[str, ToyotaCarInfo | list[ToyotaCarInfo]] = {
# Toyota
CAR.ALPHARD_TSS2: [
ToyotaCarInfo("Toyota Alphard 2019-20"),
@@ -257,7 +256,7 @@ STATIC_DSU_MSGS = [
]
def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]:
def get_platform_codes(fw_versions: list[bytes]) -> dict[bytes, set[bytes]]:
# Returns sub versions in a dict so comparisons can be made within part-platform-major_version combos
codes = defaultdict(set) # Optional[part]-platform-major_version: set of sub_version
for fw in fw_versions:
@@ -301,7 +300,7 @@ def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]:
return dict(codes)
def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> set[str]:
candidates = set()
for candidate, fws in offline_fw_versions.items():
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
+11 -128
View File
@@ -1,10 +1,9 @@
from cereal import car
from panda import Panda
from openpilot.common.conversions import Conversions as CV
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, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags, \
from openpilot.selfdrive.car.volkswagen.values import PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags, \
BUTTON_STATES, VolkswagenFlagsSP
ButtonType = car.CarState.ButtonEvent.Type
@@ -76,14 +75,17 @@ class CarInterface(CarInterfaceBase):
# Global lateral tuning defaults, can be overridden per-vehicle
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.4
ret.steerRatio = 15.6 # Let the params learner figure this out
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
if candidate in PQ_CARS:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
else:
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
# Global longitudinal tuning defaults, can be overridden per-vehicle
@@ -113,125 +115,6 @@ 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
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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
ret.steerActuatorDelay = 0.2
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
+221 -130
View File
@@ -1,12 +1,12 @@
from collections import defaultdict, namedtuple
from collections import namedtuple
from dataclasses import dataclass, field
from enum import Enum, IntFlag, StrEnum
from typing import Dict, List, Union
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
@@ -130,48 +130,17 @@ BUTTON_STATES = {
}
# 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
@dataclass(frozen=True)
class VolkswagenMQBPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None))
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(frozen=True)
class VolkswagenPQPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None))
@dataclass(frozen=True, kw_only=True)
class VolkswagenCarSpecs(CarSpecs):
steerRatio: float = field(default=15.6)
class Footnote(Enum):
KAMIQ = CarFootnote(
@@ -207,90 +176,202 @@ 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, Union[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.
@@ -310,17 +391,27 @@ VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER +
VOLKSWAGEN_RX_OFFSET = 0x6a
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
# TODO: add back whitelists after we gather enough data
requests=[request for bus, obd_multiplexing in [(1, True), (1, False), (0, False)] for request in [
Request(
[VOLKSWAGEN_VERSION_REQUEST_MULTI],
[VOLKSWAGEN_VERSION_RESPONSE],
whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
# whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
rx_offset=VOLKSWAGEN_RX_OFFSET,
bus=bus,
logging=(bus != 1 or not obd_multiplexing),
obd_multiplexing=obd_multiplexing,
),
Request(
[VOLKSWAGEN_VERSION_REQUEST_MULTI],
[VOLKSWAGEN_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine, Ecu.transmission],
# whitelist_ecus=[Ecu.engine, Ecu.transmission],
bus=bus,
logging=(bus != 1 or not obd_multiplexing),
obd_multiplexing=obd_multiplexing,
),
],
]],
)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
selfdrive/controls/lib/alertmanager.py
+5 -6
View File
@@ -3,7 +3,6 @@ import os
import json
from collections import defaultdict
from dataclasses import dataclass
from typing import List, Dict, Optional
from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params
@@ -14,7 +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: Optional[str] = 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 ''
@@ -25,7 +24,7 @@ def set_offroad_alert(alert: str, show_alert: bool, extra_text: Optional[str] =
@dataclass
class AlertEntry:
alert: Optional[Alert] = None
alert: Alert | None = None
start_frame: int = -1
end_frame: int = -1
@@ -34,9 +33,9 @@ class AlertEntry:
class AlertManager:
def __init__(self):
self.alerts: Dict[str, AlertEntry] = defaultdict(AlertEntry)
self.alerts: dict[str, AlertEntry] = defaultdict(AlertEntry)
def add_many(self, frame: int, alerts: List[Alert]) -> None:
def add_many(self, frame: int, alerts: list[Alert]) -> None:
for alert in alerts:
entry = self.alerts[alert.alert_type]
entry.alert = alert
@@ -45,7 +44,7 @@ class AlertManager:
min_end_frame = entry.start_frame + alert.duration
entry.end_frame = max(frame + 1, min_end_frame)
def process_alerts(self, frame: int, clear_event_types: set) -> Optional[Alert]:
def process_alerts(self, frame: int, clear_event_types: set) -> Alert | None:
current_alert = AlertEntry()
for v in self.alerts.values():
if not v.alert:
selfdrive/controls/lib/events.py
+9 -9
View File
@@ -2,7 +2,7 @@
import math
import os
from enum import IntEnum
from typing import Dict, Union, Callable, List, Optional
from collections.abc import Callable
from cereal import log, car
import cereal.messaging as messaging
@@ -48,12 +48,12 @@ EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
class Events:
def __init__(self):
self.events: List[int] = []
self.static_events: List[int] = []
self.events: list[int] = []
self.static_events: list[int] = []
self.events_prev = dict.fromkeys(EVENTS.keys(), 0)
@property
def names(self) -> List[int]:
def names(self) -> list[int]:
return self.events
def __len__(self) -> int:
@@ -71,7 +71,7 @@ class Events:
def contains(self, event_type: str) -> bool:
return any(event_type in EVENTS.get(e, {}) for e in self.events)
def create_alerts(self, event_types: List[str], callback_args=None):
def create_alerts(self, event_types: list[str], callback_args=None):
if callback_args is None:
callback_args = []
@@ -132,7 +132,7 @@ class Alert:
self.creation_delay = creation_delay
self.alert_type = ""
self.event_type: Optional[str] = None
self.event_type: str | None = None
def __str__(self) -> str:
return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
@@ -364,7 +364,7 @@ def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.
EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
# ********** events with no alerts **********
EventName.stockFcw: {},
@@ -1150,7 +1150,7 @@ if __name__ == '__main__':
from collections import defaultdict
event_names = {v: k for k, v in EventName.schema.enumerants.items()}
alerts_by_type: Dict[str, Dict[Priority, List[str]]] = defaultdict(lambda: defaultdict(list))
alerts_by_type: dict[str, dict[Priority, list[str]]] = defaultdict(lambda: defaultdict(list))
CP = car.CarParams.new_message()
CS = car.CarState.new_message()
@@ -1162,7 +1162,7 @@ if __name__ == '__main__':
alert = alert(CP, CS, sm, False, 1)
alerts_by_type[et][alert.priority].append(event_names[i])
all_alerts: Dict[str, List[tuple[Priority, List[str]]]] = {}
all_alerts: dict[str, list[tuple[Priority, list[str]]]] = {}
for et, priority_alerts in alerts_by_type.items():
all_alerts[et] = sorted(priority_alerts.items(), key=lambda x: x[0], reverse=True)
selfdrive/controls/lib/vehicle_model.py
+1 -2
View File
@@ -12,7 +12,6 @@ x_dot = A*x + B*u
A depends on longitudinal speed, u [m/s], and vehicle parameters CP
"""
from typing import Tuple
import numpy as np
from numpy.linalg import solve
@@ -169,7 +168,7 @@ def kin_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray:
return K * sa
def create_dyn_state_matrices(u: float, VM: VehicleModel) -> Tuple[np.ndarray, np.ndarray]:
def create_dyn_state_matrices(u: float, VM: VehicleModel) -> tuple[np.ndarray, np.ndarray]:
"""Returns the A and B matrix for the dynamics system
Args:
selfdrive/controls/radard.py
+6 -6
View File
@@ -2,7 +2,7 @@
import importlib
import math
from collections import deque
from typing import Optional, Dict, Any
from typing import Any, Optional
import capnp
from cereal import messaging, log, car
@@ -127,7 +127,7 @@ def laplacian_pdf(x: float, mu: float, b: float):
return math.exp(-abs(x-mu)/b)
def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: Dict[int, Track]):
def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track]):
offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
def prob(c):
@@ -168,8 +168,8 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
}
def get_lead(v_ego: float, ready: bool, tracks: Dict[int, Track], lead_msg: capnp._DynamicStructReader,
model_v_ego: float, CP: car.CarParams, low_speed_override: bool = True) -> Dict[str, Any]:
def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
model_v_ego: float, CP: car.CarParams, low_speed_override: bool = True) -> dict[str, Any]:
# Determine leads, this is where the essential logic happens
if len(tracks) > 0 and ready and lead_msg.prob > .5:
track = match_vision_to_track(v_ego, lead_msg, tracks)
@@ -198,14 +198,14 @@ class RadarD:
def __init__(self, radar_ts: float, CP: car.CarParams, delay: int = 0):
self.current_time = 0.0
self.tracks: Dict[int, Track] = {}
self.tracks: dict[int, Track] = {}
self.kalman_params = KalmanParams(radar_ts)
self.v_ego = 0.0
self.v_ego_hist = deque([0.0], maxlen=delay+1)
self.last_v_ego_frame = -1
self.radar_state: Optional[capnp._DynamicStructBuilder] = None
self.radar_state: capnp._DynamicStructBuilder | None = None
self.radar_state_valid = False
self.ready = False
selfdrive/debug/can_print_changes.py
+2 -3
View File
@@ -3,7 +3,6 @@ import argparse
import binascii
import time
from collections import defaultdict
from typing import Optional
import cereal.messaging as messaging
from openpilot.selfdrive.debug.can_table import can_table
@@ -96,8 +95,8 @@ if __name__ == "__main__":
args = parser.parse_args()
init_lr: Optional[LogIterable] = None
new_lr: Optional[LogIterable] = None
init_lr: LogIterable | None = None
new_lr: LogIterable | None = None
if args.init:
if args.init == '':
selfdrive/debug/check_freq.py
+3 -3
View File
@@ -3,7 +3,7 @@ import argparse
import numpy as np
import time
from collections import defaultdict, deque
from typing import DefaultDict, Deque, MutableSequence
from collections.abc import MutableSequence
import cereal.messaging as messaging
@@ -19,8 +19,8 @@ if __name__ == "__main__":
socket_names = args.socket
sockets = {}
rcv_times: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100))
rcv_times: defaultdict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
valids: defaultdict[str, deque[bool]] = defaultdict(lambda: deque(maxlen=100))
t = time.monotonic()
for name in socket_names:
selfdrive/debug/check_lag.py
+1 -2
View File
@@ -1,5 +1,4 @@
#!/usr/bin/env python3
from typing import Dict
import cereal.messaging as messaging
from cereal.services import SERVICE_LIST
@@ -10,7 +9,7 @@ TO_CHECK = ['carState']
if __name__ == "__main__":
sm = messaging.SubMaster(TO_CHECK)
prev_t: Dict[str, float] = {}
prev_t: dict[str, float] = {}
while True:
sm.update()
selfdrive/debug/check_timings.py
+2 -2
View File
@@ -3,13 +3,13 @@
import sys
import time
import numpy as np
from typing import DefaultDict, MutableSequence
from collections.abc import MutableSequence
from collections import defaultdict, deque
import cereal.messaging as messaging
socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]}
ts: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
ts: defaultdict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
if __name__ == "__main__":
while True:
selfdrive/debug/count_events.py
+3 -3
View File
@@ -4,7 +4,7 @@ import math
import datetime
from collections import Counter
from pprint import pprint
from typing import List, Tuple, cast
from typing import cast
from cereal.services import SERVICE_LIST
from openpilot.tools.lib.logreader import LogReader, ReadMode
@@ -15,8 +15,8 @@ if __name__ == "__main__":
cams = [s for s in SERVICE_LIST if s.endswith('CameraState')]
cnt_cameras = dict.fromkeys(cams, 0)
events: List[Tuple[float, set[str]]] = []
alerts: List[Tuple[float, str]] = []
events: list[tuple[float, set[str]]] = []
alerts: list[tuple[float, str]] = []
start_time = math.inf
end_time = -math.inf
ignition_off = None
selfdrive/debug/cpu_usage_stat.py
+2 -2
View File
@@ -66,12 +66,12 @@ if __name__ == "__main__":
for p in psutil.process_iter():
if p == psutil.Process():
continue
matched = any(l for l in p.cmdline() if any(pn for pn in monitored_proc_names if re.match(r'.*{}.*'.format(pn), l, re.M | re.I)))
matched = any(l for l in p.cmdline() if any(pn for pn in monitored_proc_names if re.match(fr'.*{pn}.*', l, re.M | re.I)))
if matched:
k = ' '.join(p.cmdline())
print('Add monitored proc:', k)
stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None),
'avg': defaultdict(lambda: 0.0), 'last_cpu_times': None, 'last_sys_time': None}
'avg': defaultdict(float), 'last_cpu_times': None, 'last_sys_time': None}
stats[k]['last_sys_time'] = timer()
stats[k]['last_cpu_times'] = p.cpu_times()
monitored_procs.append(p)
selfdrive/debug/format_fingerprints.py
+1 -1
View File
@@ -67,7 +67,7 @@ def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tup
extra_fw_versions = extra_fw_versions or {}
fingerprints_file = os.path.join(BASEDIR, f"selfdrive/car/{brand}/fingerprints.py")
with open(fingerprints_file, "r") as f:
with open(fingerprints_file) as f:
comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
with open(fingerprints_file, "w") as f:
selfdrive/debug/internal/measure_modeld_packet_drop.py
+1 -2
View File
@@ -1,12 +1,11 @@
#!/usr/bin/env python3
import cereal.messaging as messaging
from typing import Optional
if __name__ == "__main__":
modeld_sock = messaging.sub_sock("modelV2")
last_frame_id = None
start_t: Optional[int] = None
start_t: int | None = None
frame_cnt = 0
dropped = 0
selfdrive/debug/live_cpu_and_temp.py
+3 -4
View File
@@ -5,7 +5,6 @@ from collections import defaultdict
from cereal.messaging import SubMaster
from openpilot.common.numpy_fast import mean
from typing import Optional, Dict
def cputime_total(ct):
return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq
@@ -42,8 +41,8 @@ if __name__ == "__main__":
total_times = [0.]*8
busy_times = [0.]*8
prev_proclog: Optional[capnp._DynamicStructReader] = None
prev_proclog_t: Optional[int] = None
prev_proclog: capnp._DynamicStructReader | None = None
prev_proclog_t: int | None = None
while True:
sm.update()
@@ -76,7 +75,7 @@ if __name__ == "__main__":
print(f"CPU {100.0 * mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C")
if args.cpu and prev_proclog is not None and prev_proclog_t is not None:
procs: Dict[str, float] = defaultdict(float)
procs: dict[str, float] = defaultdict(float)
dt = (sm.logMonoTime['procLog'] - prev_proclog_t) / 1e9
for proc in m.procs:
try:
selfdrive/locationd/calibrationd.py
+9 -9
View File
@@ -10,7 +10,7 @@ import gc
import os
import capnp
import numpy as np
from typing import List, NoReturn, Optional
from typing import NoReturn
from cereal import log
import cereal.messaging as messaging
@@ -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: Optional[np.ndarray] = None) -> None:
smooth_from: np.ndarray = None) -> None:
if not np.isfinite(rpy_init).all():
self.rpy = RPY_INIT.copy()
else:
@@ -125,7 +125,7 @@ class Calibrator:
self.old_rpy = smooth_from
self.old_rpy_weight = 1.0
def get_valid_idxs(self) -> List[int]:
def get_valid_idxs(self) -> list[int]:
# exclude current block_idx from validity window
before_current = list(range(self.block_idx))
after_current = list(range(min(self.valid_blocks, self.block_idx + 1), self.valid_blocks))
@@ -175,12 +175,12 @@ class Calibrator:
else:
return self.rpy
def handle_cam_odom(self, trans: List[float],
rot: List[float],
wide_from_device_euler: List[float],
trans_std: List[float],
road_transform_trans: List[float],
road_transform_trans_std: List[float]) -> Optional[np.ndarray]:
def handle_cam_odom(self, trans: list[float],
rot: list[float],
wide_from_device_euler: list[float],
trans_std: list[float],
road_transform_trans: list[float],
road_transform_trans_std: list[float]) -> np.ndarray | None:
self.old_rpy_weight = max(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES)
straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER))
selfdrive/locationd/helpers.py
+5 -5
View File
@@ -1,5 +1,5 @@
import numpy as np
from typing import List, Optional, Tuple, Any
from typing import Any
from cereal import log
@@ -12,7 +12,7 @@ class NPQueue:
def __len__(self) -> int:
return len(self.arr)
def append(self, pt: List[float]) -> None:
def append(self, pt: list[float]) -> None:
if len(self.arr) < self.maxlen:
self.arr = np.append(self.arr, [pt], axis=0)
else:
@@ -21,7 +21,7 @@ class NPQueue:
class PointBuckets:
def __init__(self, x_bounds: List[Tuple[float, float]], min_points: List[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None:
def __init__(self, x_bounds: list[tuple[float, float]], min_points: list[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None:
self.x_bounds = x_bounds
self.buckets = {bounds: NPQueue(maxlen=points_per_bucket, rowsize=rowsize) for bounds in x_bounds}
self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True))
@@ -41,13 +41,13 @@ class PointBuckets:
def add_point(self, x: float, y: float, bucket_val: float) -> None:
raise NotImplementedError
def get_points(self, num_points: Optional[int] = 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
return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
def load_points(self, points: List[List[float]]) -> None:
def load_points(self, points: list[list[float]]) -> None:
for point in points:
self.add_point(*point)
selfdrive/locationd/locationd.cc
+3 -5
View File
@@ -691,10 +691,9 @@ int Localizer::locationd_thread() {
this->configure_gnss_source(source);
const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration",
"carState", "carParams", "accelerometer", "gyroscope"};
"carState", "accelerometer", "gyroscope"};
// TODO: remove carParams once we're always sending at 100Hz
SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"});
SubMaster sm(service_list, {}, nullptr, {gps_location_socket});
PubMaster pm({"liveLocationKalman"});
uint64_t cnt = 0;
@@ -718,8 +717,7 @@ int Localizer::locationd_thread() {
filterInitialized = sm.allAliveAndValid();
}
// 100Hz publish for notcars, 20Hz for cars
const char* trigger_msg = sm["carParams"].getCarParams().getNotCar() ? "accelerometer" : "cameraOdometry";
const char* trigger_msg = "cameraOdometry";
if (sm.updated(trigger_msg)) {
bool inputsOK = sm.allValid() && this->are_inputs_ok();
bool gpsOK = this->is_gps_ok();
selfdrive/locationd/models/car_kf.py
+2 -2
View File
@@ -1,7 +1,7 @@
#!/usr/bin/env python3
import math
import sys
from typing import Any, Dict
from typing import Any
import numpy as np
@@ -70,7 +70,7 @@ class CarKalman(KalmanFilter):
])
P_initial = Q.copy()
obs_noise: Dict[int, Any] = {
obs_noise: dict[int, Any] = {
ObservationKind.STEER_ANGLE: np.atleast_2d(math.radians(0.05)**2),
ObservationKind.ANGLE_OFFSET_FAST: np.atleast_2d(math.radians(10.0)**2),
ObservationKind.ROAD_ROLL: np.atleast_2d(math.radians(1.0)**2),
selfdrive/manager/build.py
+1 -2
View File
@@ -2,7 +2,6 @@
import os
import subprocess
from pathlib import Path
from typing import List
# NOTE: Do NOT import anything here that needs be built (e.g. params)
from openpilot.common.basedir import BASEDIR
@@ -29,7 +28,7 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
# building with all cores can result in using too
# much memory, so retry with less parallelism
compile_output: List[bytes] = []
compile_output: list[bytes] = []
for n in (nproc, nproc/2, 1):
compile_output.clear()
scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", *extra_args], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
selfdrive/manager/manager.py
+3 -4
View File
@@ -4,7 +4,6 @@ import os
import signal
import sys
import traceback
from typing import List, Tuple, Union
from cereal import custom
import cereal.messaging as messaging
@@ -33,7 +32,7 @@ def manager_init() -> None:
if is_release_branch():
params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
default_params: List[Tuple[str, Union[str, bytes]]] = [
default_params: list[tuple[str, str | bytes]] = [
("CompletedTrainingVersion", "0"),
("DisengageOnAccelerator", "0"),
("GsmMetered", "1"),
@@ -200,7 +199,7 @@ def manager_thread() -> None:
params = Params()
ignore: List[str] = []
ignore: list[str] = []
if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID):
ignore += ["manage_athenad", "uploader"]
if os.getenv("NOBOARD") is not None:
@@ -235,7 +234,7 @@ def manager_thread() -> None:
ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
for p in managed_processes.values() if p.proc)
print(running)
cloudlog.debug(running)
selfdrive/manager/process.py
+6 -6
View File
@@ -4,7 +4,7 @@ import signal
import struct
import time
import subprocess
from typing import Optional, Callable, List, ValuesView
from collections.abc import Callable, ValuesView
from abc import ABC, abstractmethod
from multiprocessing import Process
@@ -47,7 +47,7 @@ def launcher(proc: str, name: str) -> None:
raise
def nativelauncher(pargs: List[str], cwd: str, name: str) -> None:
def nativelauncher(pargs: list[str], cwd: str, name: str) -> None:
os.environ['MANAGER_DAEMON'] = name
# exec the process
@@ -67,12 +67,12 @@ class ManagerProcess(ABC):
daemon = False
sigkill = False
should_run: Callable[[bool, Params, car.CarParams], bool]
proc: Optional[Process] = None
proc: Process | None = None
enabled = True
name = ""
last_watchdog_time = 0
watchdog_max_dt: Optional[int] = None
watchdog_max_dt: int | None = None
always_watchdog = False
watchdog_seen = False
shutting_down = False
@@ -112,7 +112,7 @@ class ManagerProcess(ABC):
else:
self.watchdog_seen = True
def stop(self, retry: bool = True, block: bool = True, sig: Optional[signal.Signals] = None) -> Optional[int]:
def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None:
if self.proc is None:
return None
@@ -279,7 +279,7 @@ class DaemonProcess(ManagerProcess):
def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None,
not_run: Optional[List[str]]=None) -> List[ManagerProcess]:
not_run: list[str] | None=None) -> list[ManagerProcess]:
if not_run is None:
not_run = []
selfdrive/modeld/dmonitoringmodeld.py
+2 -3
View File
@@ -6,7 +6,6 @@ import time
import ctypes
import numpy as np
from pathlib import Path
from typing import Tuple, Dict
from cereal import messaging
from cereal.messaging import PubMaster, SubMaster
@@ -53,7 +52,7 @@ class DMonitoringModelResult(ctypes.Structure):
("wheel_on_right_prob", ctypes.c_float)]
class ModelState:
inputs: Dict[str, np.ndarray]
inputs: dict[str, np.ndarray]
output: np.ndarray
model: ModelRunner
@@ -68,7 +67,7 @@ class ModelState:
self.model.addInput("input_img", None)
self.model.addInput("calib", self.inputs['calib'])
def run(self, buf:VisionBuf, calib:np.ndarray) -> Tuple[np.ndarray, float]:
def run(self, buf:VisionBuf, calib:np.ndarray) -> tuple[np.ndarray, float]:
self.inputs['calib'][:] = calib
v_offset = buf.height - MODEL_HEIGHT
selfdrive/modeld/fill_model_msg.py
+2 -3
View File
@@ -1,7 +1,6 @@
import os
import capnp
import numpy as np
from typing import Dict
from cereal import log
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
@@ -43,7 +42,7 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std
if a_std is not None:
builder.aStd = a_std.tolist()
def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray], publish_state: PublishState,
def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], publish_state: PublishState,
vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
timestamp_eof: int, timestamp_llk: int, model_execution_time: float,
nav_enabled: bool, valid: bool, model_use_lateral_planner: bool) -> None:
@@ -180,7 +179,7 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str,
if SEND_RAW_PRED:
modelV2.rawPredictions = net_output_data['raw_pred'].tobytes()
def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray],
def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray],
vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None:
msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
cameraOdometry = msg.cameraOdometry
selfdrive/modeld/get_model_metadata.py
+1 -2
View File
@@ -4,9 +4,8 @@ import pathlib
import onnx
import codecs
import pickle
from typing import Tuple
def get_name_and_shape(value_info:onnx.ValueInfoProto) -> Tuple[str, Tuple[int,...]]:
def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
name = value_info.name
return name, shape
selfdrive/modeld/modeld.py
+4 -5
View File
@@ -6,7 +6,6 @@ import numpy as np
import cereal.messaging as messaging
from cereal import car, log
from pathlib import Path
from typing import Dict, Optional
from setproctitle import setproctitle
from cereal.messaging import PubMaster, SubMaster
from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
@@ -53,7 +52,7 @@ class FrameMeta:
class ModelState:
frame: ModelFrame
wide_frame: ModelFrame
inputs: Dict[str, np.ndarray]
inputs: dict[str, np.ndarray]
output: np.ndarray
prev_desire: np.ndarray # for tracking the rising edge of the pulse
model: ModelRunner
@@ -111,14 +110,14 @@ class ModelState:
for k,v in self.inputs.items():
self.model.addInput(k, v)
def slice_outputs(self, model_outputs: np.ndarray) -> Dict[str, np.ndarray]:
def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
if SEND_RAW_PRED:
parsed_model_outputs['raw_pred'] = model_outputs.copy()
return parsed_model_outputs
def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
inputs: Dict[str, np.ndarray], prepare_only: bool) -> Optional[Dict[str, np.ndarray]]:
inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
# Model decides when action is completed, so desire input is just a pulse triggered on rising edge
inputs['desire'][0] = 0
self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:]
@@ -331,7 +330,7 @@ def main(demo=False):
'lateral_control_params': lateral_control_params
}
inputs:Dict[str, np.ndarray] = {
inputs:dict[str, np.ndarray] = {
'desire': vec_desire,
'traffic_convention': traffic_convention,
**_inputs,
selfdrive/modeld/navmodeld.py
+2 -3
View File
@@ -5,7 +5,6 @@ import time
import ctypes
import numpy as np
from pathlib import Path
from typing import Tuple, Dict
from cereal import messaging
from cereal.messaging import PubMaster, SubMaster
@@ -44,7 +43,7 @@ class NavModelResult(ctypes.Structure):
("features", ctypes.c_float*NAV_FEATURE_LEN)]
class ModelState:
inputs: Dict[str, np.ndarray]
inputs: dict[str, np.ndarray]
output: np.ndarray
model: ModelRunner
@@ -63,7 +62,7 @@ class ModelState:
self.model = ModelRunner(_model_paths, self.output, Runtime.DSP, True, None)
self.model.addInput("input_img", None)
def run(self, buf:np.ndarray) -> Tuple[np.ndarray, float]:
def run(self, buf:np.ndarray) -> tuple[np.ndarray, float]:
self.inputs['input_img'][:] = buf
t1 = time.perf_counter()
selfdrive/modeld/parse_model_outputs.py
+1 -2
View File
@@ -1,5 +1,4 @@
import numpy as np
from typing import Dict
from openpilot.selfdrive.modeld.constants import ModelConstants
def sigmoid(x):
@@ -82,7 +81,7 @@ class Parser:
outs[name] = pred_mu_final.reshape(final_shape)
outs[name + '_stds'] = pred_std_final.reshape(final_shape)
def parse_outputs(self, outs: Dict[str, np.ndarray]) -> Dict[str, np.ndarray]:
def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
selfdrive/modeld/runners/onnxmodel.py
+2 -2
View File
@@ -3,7 +3,7 @@ import itertools
import os
import sys
import numpy as np
from typing import Tuple, Dict, Union, Any
from typing import Any
from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel
@@ -38,7 +38,7 @@ def create_ort_session(path, fp16_to_fp32):
options = ort.SessionOptions()
options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
provider: Union[str, Tuple[str, Dict[Any, Any]]]
provider: str | tuple[str, dict[Any, Any]]
if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
provider = 'OpenVINOExecutionProvider'
elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
selfdrive/navd/helpers.py
+8 -8
View File
@@ -2,7 +2,7 @@ from __future__ import annotations
import json
import math
from typing import Any, Dict, List, Optional, Tuple, Union, cast
from typing import Any, cast
from openpilot.common.conversions import Conversions
from openpilot.common.numpy_fast import clip
@@ -22,13 +22,13 @@ class Coordinate:
def __init__(self, latitude: float, longitude: float) -> None:
self.latitude = latitude
self.longitude = longitude
self.annotations: Dict[str, float] = {}
self.annotations: dict[str, float] = {}
@classmethod
def from_mapbox_tuple(cls, t: Tuple[float, float]) -> Coordinate:
def from_mapbox_tuple(cls, t: tuple[float, float]) -> Coordinate:
return cls(t[1], t[0])
def as_dict(self) -> Dict[str, float]:
def as_dict(self) -> dict[str, float]:
return {'latitude': self.latitude, 'longitude': self.longitude}
def __str__(self) -> str:
@@ -83,7 +83,7 @@ def minimum_distance(a: Coordinate, b: Coordinate, p: Coordinate):
return projection.distance_to(p)
def distance_along_geometry(geometry: List[Coordinate], pos: Coordinate) -> float:
def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> float:
if len(geometry) <= 2:
return geometry[0].distance_to(pos)
@@ -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: Optional[Params] = None) -> Optional[Coordinate]:
def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None:
if params is None:
params = Params()
@@ -130,7 +130,7 @@ def string_to_direction(direction: str) -> str:
return 'none'
def maxspeed_to_ms(maxspeed: Dict[str, Union[str, float]]) -> float:
def maxspeed_to_ms(maxspeed: dict[str, str | float]) -> float:
unit = cast(str, maxspeed['unit'])
speed = cast(float, maxspeed['speed'])
return SPEED_CONVERSIONS[unit] * speed
@@ -140,7 +140,7 @@ def field_valid(dat: dict, field: str) -> bool:
return field in dat and dat[field] is not None
def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> Optional[Dict[str, Any]]:
def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> dict[str, Any] | None:
if not len(banners):
return None
selfdrive/statsd.py
+3 -3
View File
@@ -5,7 +5,7 @@ import time
from pathlib import Path
from collections import defaultdict
from datetime import datetime, timezone
from typing import NoReturn, Union, List, Dict
from typing import NoReturn
from openpilot.common.params import Params
from cereal.messaging import SubMaster
@@ -61,7 +61,7 @@ class StatLog:
def main() -> NoReturn:
dongle_id = Params().get("DongleId", encoding='utf-8')
def get_influxdb_line(measurement: str, value: Union[float, Dict[str, float]], timestamp: datetime, tags: dict) -> str:
def get_influxdb_line(measurement: str, value: float | dict[str, float], timestamp: datetime, tags: dict) -> str:
res = f"{measurement}"
for k, v in tags.items():
res += f",{k}={str(v)}"
@@ -102,7 +102,7 @@ def main() -> NoReturn:
idx = 0
last_flush_time = time.monotonic()
gauges = {}
samples: Dict[str, List[float]] = defaultdict(list)
samples: dict[str, list[float]] = defaultdict(list)
try:
while True:
started_prev = sm['deviceState'].started

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