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Move events out of car interfaces (#33280)

Browse Source 
* chrysler down

* honda and ford

* we can pass the class for this

* do the rest

* clean that up

* remove EventName

* fix CI

* move smallest bodies to top

* rm todo

* eps_timer_soft_disable_alert is too ingrained in carcontroller

* re-did everything w/ no diff (except just passing cereal instead of class)
This commit is contained in:
Shane Smiskol
2024-08-13 20:40:36 -07:00
committed by GitHub
parent 3d2fbe9aa3
commit cf39cc823a
16 changed files with 245 additions and 237 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
.importlinter
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@@ -25,7 +25,6 @@ forbidden_modules =
openpilot.tinygrad
ignore_imports =
# remove these
openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
openpilot.selfdrive.car.body.carcontroller -> openpilot.selfdrive.controls.lib.pid
openpilot.selfdrive.car.tests.test_docs -> openpilot.common.basedir
openpilot.selfdrive.car.docs -> openpilot.common.basedir
@@ -62,4 +61,5 @@ ignore_imports =
openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.pandad
openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.pandad
openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.test.fuzzy_generation
openpilot.selfdrive.car.car_specific -> openpilot.selfdrive.controls.lib.events
unmatched_ignore_imports_alerting = warn

1
selfdrive/car/__init__.py
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@@ -24,7 +24,6 @@ DT_CTRL = 0.01 # car state and control loop timestep (s)
STD_CARGO_KG = 136.
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])

238
selfdrive/car/car_specific.py Normal file
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@@ -0,0 +1,238 @@
from cereal import car
from openpilot.selfdrive.car import DT_CTRL
from openpilot.selfdrive.car.interfaces import MAX_CTRL_SPEED
from openpilot.selfdrive.car.volkswagen.values import CarControllerParams as VWCarControllerParams
from openpilot.selfdrive.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
from openpilot.selfdrive.controls.lib.events import Events
ButtonType = car.CarState.ButtonEvent.Type
GearShifter = car.CarState.GearShifter
EventName = car.CarEvent.EventName
NetworkLocation = car.CarParams.NetworkLocation
class CarSpecificEvents:
def __init__(self, CP: car.CarParams):
self.CP = CP
self.steering_unpressed = 0
self.low_speed_alert = False
self.no_steer_warning = False
self.silent_steer_warning = True
def update(self, CS, CS_prev, CC, CC_prev):
if self.CP.carName in ('body', 'mock'):
events = Events()
elif self.CP.carName in ('tesla', 'subaru'):
events = self.create_common_events(CS.out, CS_prev)
elif self.CP.carName == 'ford':
events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.manumatic])
elif self.CP.carName == 'nissan':
events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
if CS.lkas_enabled:
events.add(EventName.invalidLkasSetting)
elif self.CP.carName == 'mazda':
events = self.create_common_events(CS.out, CS_prev)
if CS.lkas_disabled:
events.add(EventName.lkasDisabled)
elif CS.low_speed_alert:
events.add(EventName.belowSteerSpeed)
elif self.CP.carName == 'chrysler':
events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low])
# Low speed steer alert hysteresis logic
if self.CP.minSteerSpeed > 0. and CS.out.vEgo < (self.CP.minSteerSpeed + 0.5):
self.low_speed_alert = True
elif CS.out.vEgo > (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(EventName.belowSteerSpeed)
elif self.CP.carName == 'honda':
events = self.create_common_events(CS.out, CS_prev, pcm_enable=False)
if self.CP.pcmCruise and CS.out.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
if self.CP.pcmCruise:
# we engage when pcm is active (rising edge)
if CS.out.cruiseState.enabled and not CS_prev.cruiseState.enabled:
events.add(EventName.pcmEnable)
elif not CS.out.cruiseState.enabled and (CC_prev.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
# it can happen that car cruise disables while comma system is enabled: need to
# keep braking if needed or if the speed is very low
if CS.out.vEgo < self.CP.minEnableSpeed + 2.:
# non loud alert if cruise disables below 25mph as expected (+ a little margin)
events.add(EventName.speedTooLow)
else:
events.add(EventName.cruiseDisabled)
if self.CP.minEnableSpeed > 0 and CS.out.vEgo < 0.001:
events.add(EventName.manualRestart)
elif self.CP.carName == 'toyota':
events = self.create_common_events(CS.out, CS_prev)
if self.CP.openpilotLongitudinalControl:
if CS.out.cruiseState.standstill and not CS.out.brakePressed:
events.add(EventName.resumeRequired)
if CS.low_speed_lockout:
events.add(EventName.lowSpeedLockout)
if CS.out.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
if CC_prev.actuators.accel > 0.3:
# some margin on the actuator to not false trigger cancellation while stopping
events.add(EventName.speedTooLow)
if CS.out.vEgo < 0.001:
# while in standstill, send a user alert
events.add(EventName.manualRestart)
elif self.CP.carName == 'gm':
# The ECM allows enabling on falling edge of set, but only rising edge of resume
events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
GearShifter.eco, GearShifter.manumatic],
pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
if not self.CP.pcmCruise:
if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.out.buttonEvents):
events.add(EventName.buttonEnable)
# Enabling at a standstill with brake is allowed
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
below_min_enable_speed = CS.out.vEgo < self.CP.minEnableSpeed or CS.moving_backward
if below_min_enable_speed and not (CS.out.standstill and CS.out.brake >= 20 and
self.CP.networkLocation == NetworkLocation.fwdCamera):
events.add(EventName.belowEngageSpeed)
if CS.out.cruiseState.standstill:
events.add(EventName.resumeRequired)
if CS.out.vEgo < self.CP.minSteerSpeed:
events.add(EventName.belowSteerSpeed)
elif self.CP.carName == 'volkswagen':
events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
pcm_enable=not self.CP.openpilotLongitudinalControl,
enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
# Low speed steer alert hysteresis logic
if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.out.vEgo < (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = True
elif CS.out.vEgo > (self.CP.minSteerSpeed + 2.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(EventName.belowSteerSpeed)
if self.CP.openpilotLongitudinalControl:
if CS.out.vEgo < self.CP.minEnableSpeed + 0.5:
events.add(EventName.belowEngageSpeed)
if CC_prev.enabled and CS.out.vEgo < self.CP.minEnableSpeed:
events.add(EventName.speedTooLow)
if CC.eps_timer_soft_disable_alert:
events.add(EventName.steerTimeLimit)
elif self.CP.carName == 'hyundai':
# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
# Main button also can trigger an engagement on these cars
allow_enable = any(btn in HYUNDAI_ENABLE_BUTTONS for btn in CS.cruise_buttons) or any(CS.main_buttons)
events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=allow_enable)
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
if CS.out.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
self.low_speed_alert = True
if CS.out.vEgo > (self.CP.minSteerSpeed + 4.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(EventName.belowSteerSpeed)
else:
raise ValueError(f"Unsupported car: {self.CP.carName}")
return events
def create_common_events(self, CS, CS_prev, extra_gears=None, pcm_enable=True, allow_enable=True,
enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
events = Events()
if CS.doorOpen:
events.add(EventName.doorOpen)
if CS.seatbeltUnlatched:
events.add(EventName.seatbeltNotLatched)
if CS.gearShifter != GearShifter.drive and (extra_gears is None or
CS.gearShifter not in extra_gears):
events.add(EventName.wrongGear)
if CS.gearShifter == GearShifter.reverse:
events.add(EventName.reverseGear)
if not CS.cruiseState.available:
events.add(EventName.wrongCarMode)
if CS.espDisabled:
events.add(EventName.espDisabled)
if CS.espActive:
events.add(EventName.espActive)
if CS.stockFcw:
events.add(EventName.stockFcw)
if CS.stockAeb:
events.add(EventName.stockAeb)
if CS.vEgo > MAX_CTRL_SPEED:
events.add(EventName.speedTooHigh)
if CS.cruiseState.nonAdaptive:
events.add(EventName.wrongCruiseMode)
if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl:
events.add(EventName.brakeHold)
if CS.parkingBrake:
events.add(EventName.parkBrake)
if CS.accFaulted:
events.add(EventName.accFaulted)
if CS.steeringPressed:
events.add(EventName.steerOverride)
if CS.brakePressed and CS.standstill:
events.add(EventName.preEnableStandstill)
if CS.gasPressed:
events.add(EventName.gasPressedOverride)
if CS.vehicleSensorsInvalid:
events.add(EventName.vehicleSensorsInvalid)
# Handle button presses
for b in CS.buttonEvents:
# Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port)
if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
events.add(EventName.buttonEnable)
# Disable on rising and falling edge of cancel for both stock and OP long
if b.type == ButtonType.cancel:
events.add(EventName.buttonCancel)
# Handle permanent and temporary steering faults
self.steering_unpressed = 0 if CS.steeringPressed else self.steering_unpressed + 1
if CS.steerFaultTemporary:
if CS.steeringPressed and (not CS_prev.steerFaultTemporary or self.no_steer_warning):
self.no_steer_warning = True
else:
self.no_steer_warning = False
# if the user overrode recently, show a less harsh alert
if self.silent_steer_warning or CS.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
self.silent_steer_warning = True
events.add(EventName.steerTempUnavailableSilent)
else:
events.add(EventName.steerTempUnavailable)
else:
self.no_steer_warning = False
self.silent_steer_warning = False
if CS.steerFaultPermanent:
events.add(EventName.steerUnavailable)
# we engage when pcm is active (rising edge)
# enabling can optionally be blocked by the car interface
if pcm_enable:
if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled and allow_enable:
events.add(EventName.pcmEnable)
elif not CS.cruiseState.enabled:
events.add(EventName.pcmDisable)
return events

5
selfdrive/car/card.py
View File

@@ -15,6 +15,7 @@ from openpilot.common.swaglog import cloudlog, ForwardingHandler
from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
from openpilot.selfdrive.car import DT_CTRL, carlog
from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
from openpilot.selfdrive.car.car_specific import CarSpecificEvents
from openpilot.selfdrive.car.fw_versions import ObdCallback
from openpilot.selfdrive.car.car_helpers import get_car
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -131,6 +132,8 @@ class Car:
self.events = Events()
self.car_events = CarSpecificEvents(self.CP)
# card is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -157,6 +160,8 @@ class Car:
def update_events(self, CS: car.CarState) -> car.CarState:
self.events.clear()
CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg()
self.events.add_from_msg(CS.events)
if self.CP.notCar:

13
selfdrive/car/chrysler/interface.py
View File

@@ -81,17 +81,4 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
# events
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
# Low speed steer alert hysteresis logic
if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
self.low_speed_alert = True
elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(car.CarEvent.EventName.belowSteerSpeed)
ret.events = events.to_msg()
return ret

4
selfdrive/car/ford/interface.py
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@@ -72,8 +72,4 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
ret.events = events.to_msg()
return ret

22
selfdrive/car/gm/interface.py
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@@ -12,7 +12,6 @@ from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerP
from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
GearShifter = car.CarState.GearShifter
TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
@@ -213,25 +212,4 @@ class CarInterface(CarInterfaceBase):
{1: ButtonType.gapAdjustCruise})
]
# The ECM allows enabling on falling edge of set, but only rising edge of resume
events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
GearShifter.eco, GearShifter.manumatic],
pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
if not self.CP.pcmCruise:
if any(b.type == ButtonType.accelCruise and b.pressed for b in ret.buttonEvents):
events.add(EventName.buttonEnable)
# Enabling at a standstill with brake is allowed
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
self.CP.networkLocation == NetworkLocation.fwdCamera):
events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill:
events.add(EventName.resumeRequired)
if ret.vEgo < self.CP.minSteerSpeed:
events.add(EventName.belowSteerSpeed)
ret.events = events.to_msg()
return ret

23
selfdrive/car/honda/interface.py
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@@ -12,7 +12,6 @@ from openpilot.selfdrive.car.disable_ecu import disable_ecu
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
TransmissionType = car.CarParams.TransmissionType
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
@@ -230,26 +229,4 @@ class CarInterface(CarInterfaceBase):
*create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
]
# events
events = self.create_common_events(ret, pcm_enable=False)
if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
if self.CP.pcmCruise:
# we engage when pcm is active (rising edge)
if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
events.add(EventName.pcmEnable)
elif not ret.cruiseState.enabled and (c.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
# it can happen that car cruise disables while comma system is enabled: need to
# keep braking if needed or if the speed is very low
if ret.vEgo < self.CP.minEnableSpeed + 2.:
# non loud alert if cruise disables below 25mph as expected (+ a little margin)
events.add(EventName.speedTooLow)
else:
events.add(EventName.cruiseDisabled)
if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
events.add(EventName.manualRestart)
ret.events = events.to_msg()
return ret

17
selfdrive/car/hyundai/interface.py
View File

@@ -11,7 +11,6 @@ from openpilot.selfdrive.car.disable_ecu import disable_ecu
Ecu = car.CarParams.Ecu
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
@@ -156,20 +155,4 @@ class CarInterface(CarInterfaceBase):
if self.CS.CP.openpilotLongitudinalControl:
ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
# Main button also can trigger an engagement on these cars
allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
self.low_speed_alert = True
if ret.vEgo > (self.CP.minSteerSpeed + 4.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(car.CarEvent.EventName.belowSteerSpeed)
ret.events = events.to_msg()
return ret

89
selfdrive/car/interfaces.py
View File

@@ -16,11 +16,8 @@ from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, Ca
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.helpers import clip
from openpilot.selfdrive.car.values import PLATFORMS
from openpilot.selfdrive.controls.lib.events import Events
ButtonType = car.CarState.ButtonEvent.Type
GearShifter = car.CarState.GearShifter
EventName = car.CarEvent.EventName
V_CRUISE_MAX = 145
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
@@ -91,10 +88,6 @@ class CarInterfaceBase(ABC):
self.CP = CP
self.frame = 0
self.steering_unpressed = 0
self.low_speed_alert = False
self.no_steer_warning = False
self.silent_steer_warning = True
self.v_ego_cluster_seen = False
self.CS: CarStateBase = CarState(CP)
@@ -259,88 +252,6 @@ class CarInterfaceBase(ABC):
return ret
def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,
enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
events = Events()
if cs_out.doorOpen:
events.add(EventName.doorOpen)
if cs_out.seatbeltUnlatched:
events.add(EventName.seatbeltNotLatched)
if cs_out.gearShifter != GearShifter.drive and (extra_gears is None or
cs_out.gearShifter not in extra_gears):
events.add(EventName.wrongGear)
if cs_out.gearShifter == GearShifter.reverse:
events.add(EventName.reverseGear)
if not cs_out.cruiseState.available:
events.add(EventName.wrongCarMode)
if cs_out.espDisabled:
events.add(EventName.espDisabled)
if cs_out.espActive:
events.add(EventName.espActive)
if cs_out.stockFcw:
events.add(EventName.stockFcw)
if cs_out.stockAeb:
events.add(EventName.stockAeb)
if cs_out.vEgo > MAX_CTRL_SPEED:
events.add(EventName.speedTooHigh)
if cs_out.cruiseState.nonAdaptive:
events.add(EventName.wrongCruiseMode)
if cs_out.brakeHoldActive and self.CP.openpilotLongitudinalControl:
events.add(EventName.brakeHold)
if cs_out.parkingBrake:
events.add(EventName.parkBrake)
if cs_out.accFaulted:
events.add(EventName.accFaulted)
if cs_out.steeringPressed:
events.add(EventName.steerOverride)
if cs_out.brakePressed and cs_out.standstill:
events.add(EventName.preEnableStandstill)
if cs_out.gasPressed:
events.add(EventName.gasPressedOverride)
if cs_out.vehicleSensorsInvalid:
events.add(EventName.vehicleSensorsInvalid)
# Handle button presses
for b in cs_out.buttonEvents:
# Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port)
if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
events.add(EventName.buttonEnable)
# Disable on rising and falling edge of cancel for both stock and OP long
if b.type == ButtonType.cancel:
events.add(EventName.buttonCancel)
# Handle permanent and temporary steering faults
self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
if cs_out.steerFaultTemporary:
if cs_out.steeringPressed and (not self.CS.out.steerFaultTemporary or self.no_steer_warning):
self.no_steer_warning = True
else:
self.no_steer_warning = False
# if the user overrode recently, show a less harsh alert
if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
self.silent_steer_warning = True
events.add(EventName.steerTempUnavailableSilent)
else:
events.add(EventName.steerTempUnavailable)
else:
self.no_steer_warning = False
self.silent_steer_warning = False
if cs_out.steerFaultPermanent:
events.add(EventName.steerUnavailable)
# we engage when pcm is active (rising edge)
# enabling can optionally be blocked by the car interface
if pcm_enable:
if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled and allow_enable:
events.add(EventName.pcmEnable)
elif not cs_out.cruiseState.enabled:
events.add(EventName.pcmDisable)
return events
class RadarInterfaceBase(ABC):
def __init__(self, CP: car.CarParams):
self.CP = CP

11
selfdrive/car/mazda/interface.py
View File

@@ -6,7 +6,6 @@ from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
class CarInterface(CarInterfaceBase):
@@ -37,14 +36,4 @@ class CarInterface(CarInterfaceBase):
# TODO: add button types for inc and dec
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
# events
events = self.create_common_events(ret)
if self.CS.lkas_disabled:
events.add(EventName.lkasDisabled)
elif self.CS.low_speed_alert:
events.add(EventName.belowSteerSpeed)
ret.events = events.to_msg()
return ret

7
selfdrive/car/nissan/interface.py
View File

@@ -34,11 +34,4 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
if self.CS.lkas_enabled:
events.add(car.CarEvent.EventName.invalidLkasSetting)
ret.events = events.to_msg()
return ret

2
selfdrive/car/subaru/interface.py
View File

@@ -101,8 +101,6 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
ret.events = self.create_common_events(ret).to_msg()
return ret
@staticmethod

2
selfdrive/car/tesla/interface.py
View File

@@ -42,6 +42,4 @@ class CarInterface(CarInterfaceBase):
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam)
ret.events = self.create_common_events(ret).to_msg()
return ret

20
selfdrive/car/toyota/interface.py
View File

@@ -8,7 +8,6 @@ from openpilot.selfdrive.car.disable_ecu import disable_ecu
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
SteerControlType = car.CarParams.SteerControlType
@@ -151,23 +150,4 @@ class CarInterface(CarInterfaceBase):
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
# events
events = self.create_common_events(ret)
if self.CP.openpilotLongitudinalControl:
if ret.cruiseState.standstill and not ret.brakePressed:
events.add(EventName.resumeRequired)
if self.CS.low_speed_lockout:
events.add(EventName.lowSpeedLockout)
if ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
if c.actuators.accel > 0.3:
# some margin on the actuator to not false trigger cancellation while stopping
events.add(EventName.speedTooLow)
if ret.vEgo < 0.001:
# while in standstill, send a user alert
events.add(EventName.manualRestart)
ret.events = events.to_msg()
return ret

26
selfdrive/car/volkswagen/interface.py
View File

@@ -2,10 +2,9 @@ from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, CarControllerParams, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, VolkswagenFlags
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
class CarInterface(CarInterfaceBase):
@@ -104,28 +103,5 @@ class CarInterface(CarInterfaceBase):
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
pcm_enable=not self.CS.CP.openpilotLongitudinalControl,
enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
# Low speed steer alert hysteresis logic
if (self.CP.minSteerSpeed - 1e-3) > CarControllerParams.DEFAULT_MIN_STEER_SPEED and ret.vEgo < (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = True
elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(EventName.belowSteerSpeed)
if self.CS.CP.openpilotLongitudinalControl:
if ret.vEgo < self.CP.minEnableSpeed + 0.5:
events.add(EventName.belowEngageSpeed)
if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.speedTooLow)
if self.CC.eps_timer_soft_disable_alert:
events.add(EventName.steerTimeLimit)
ret.events = events.to_msg()
return ret