rm tesla (#33300)
* rm tesla
* more rm
* ugh we should remove dynamic imports soon
old-commit-hash: b9dec5e3b5
This commit is contained in:
Shane Smiskol
GitHub
parent
4ece8b6bb1
commit
f8ef09fcb2
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@ -118,10 +118,6 @@ whitelist = [
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"opendbc_repo/dbc/toyota_tss2_adas.dbc",
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"opendbc_repo/dbc/vw_golf_mk4.dbc",
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"opendbc_repo/dbc/vw_mqb_2010.dbc",
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"opendbc_repo/dbc/tesla_can.dbc",
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"opendbc_repo/dbc/tesla_radar_bosch_generated.dbc",
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"opendbc_repo/dbc/tesla_radar_continental_generated.dbc",
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"opendbc_repo/dbc/tesla_powertrain.dbc",
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]
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@ -41,7 +41,7 @@ class CarSpecificEvents:
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if self.CP.carName in ('body', 'mock'):
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events = Events()
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elif self.CP.carName in ('tesla', 'subaru'):
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elif self.CP.carName == 'subaru':
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events = self.create_common_events(CS.out, CS_prev)
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elif self.CP.carName == 'ford':
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@ -9,7 +9,6 @@ from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
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from openpilot.selfdrive.car.mock.values import CAR as MOCK
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from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
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from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
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from openpilot.selfdrive.car.tesla.values import CAR as TESLA
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from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
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from openpilot.selfdrive.car.volkswagen.values import CAR as VW
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@ -276,9 +275,6 @@ MIGRATION = {
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"SUBARU FORESTER 2022": SUBARU.SUBARU_FORESTER_2022,
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"SUBARU OUTBACK 7TH GEN": SUBARU.SUBARU_OUTBACK_2023,
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"SUBARU ASCENT 2023": SUBARU.SUBARU_ASCENT_2023,
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'TESLA AP1 MODEL S': TESLA.TESLA_AP1_MODELS,
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'TESLA AP2 MODEL S': TESLA.TESLA_AP2_MODELS,
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'TESLA MODEL S RAVEN': TESLA.TESLA_MODELS_RAVEN,
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"TOYOTA ALPHARD 2020": TOYOTA.TOYOTA_ALPHARD_TSS2,
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"TOYOTA AVALON 2016": TOYOTA.TOYOTA_AVALON,
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"TOYOTA AVALON 2019": TOYOTA.TOYOTA_AVALON_2019,
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@ -1,66 +0,0 @@
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from opendbc.can.packer import CANPacker
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from openpilot.selfdrive.car import apply_std_steer_angle_limits
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from openpilot.selfdrive.car.helpers import clip
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from openpilot.selfdrive.car.interfaces import CarControllerBase
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from openpilot.selfdrive.car.tesla.teslacan import TeslaCAN
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from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
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class CarController(CarControllerBase):
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def __init__(self, dbc_name, CP):
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super().__init__(dbc_name, CP)
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self.apply_angle_last = 0
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self.packer = CANPacker(dbc_name)
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self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
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self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
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def update(self, CC, CS, now_nanos):
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actuators = CC.actuators
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pcm_cancel_cmd = CC.cruiseControl.cancel
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can_sends = []
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# Temp disable steering on a hands_on_fault, and allow for user override
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hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3
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lkas_enabled = CC.latActive and not hands_on_fault
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if self.frame % 2 == 0:
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if lkas_enabled:
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# Angular rate limit based on speed
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apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
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# To not fault the EPS
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apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
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else:
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apply_angle = CS.out.steeringAngleDeg
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self.apply_angle_last = apply_angle
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can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16))
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# Longitudinal control (in sync with stock message, about 40Hz)
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if self.CP.openpilotLongitudinalControl:
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target_accel = actuators.accel
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target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0)
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max_accel = 0 if target_accel < 0 else target_accel
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min_accel = 0 if target_accel > 0 else target_accel
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while len(CS.das_control_counters) > 0:
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can_sends.extend(self.tesla_can.create_longitudinal_commands(CS.acc_state, target_speed, min_accel, max_accel, CS.das_control_counters.popleft()))
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# Cancel on user steering override, since there is no steering torque blending
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if hands_on_fault:
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pcm_cancel_cmd = True
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if self.frame % 10 == 0 and pcm_cancel_cmd:
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# Spam every possible counter value, otherwise it might not be accepted
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for counter in range(16):
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can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.chassis, counter))
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can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.autopilot_chassis, counter))
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# TODO: HUD control
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new_actuators = actuators.as_builder()
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new_actuators.steeringAngleDeg = self.apply_angle_last
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self.frame += 1
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return new_actuators, can_sends
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@ -1,140 +0,0 @@
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import copy
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from collections import deque
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from cereal import car
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from opendbc.can.parser import CANParser
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from opendbc.can.can_define import CANDefine
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from openpilot.selfdrive.car.conversions import Conversions as CV
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from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
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from openpilot.selfdrive.car.interfaces import CarStateBase
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class CarState(CarStateBase):
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def __init__(self, CP):
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super().__init__(CP)
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self.button_states = {button.event_type: False for button in BUTTONS}
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self.can_define = CANDefine(DBC[CP.carFingerprint]['chassis'])
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# Needed by carcontroller
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self.msg_stw_actn_req = None
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self.hands_on_level = 0
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self.steer_warning = None
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self.acc_state = 0
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self.das_control_counters = deque(maxlen=32)
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def update(self, cp, cp_cam, *_):
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ret = car.CarState.new_message()
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# Vehicle speed
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ret.vEgoRaw = cp.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = (ret.vEgo < 0.1)
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# Gas pedal
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ret.gas = cp.vl["DI_torque1"]["DI_pedalPos"] / 100.0
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ret.gasPressed = (ret.gas > 0)
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# Brake pedal
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ret.brake = 0
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ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1)
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# Steering wheel
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epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN else cp.vl["EPAS_sysStatus"]
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self.hands_on_level = epas_status["EPAS_handsOnLevel"]
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self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None)
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steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(epas_status["EPAS_eacStatus"]), None)
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ret.steeringAngleDeg = -epas_status["EPAS_internalSAS"]
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ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate
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ret.steeringTorque = -epas_status["EPAS_torsionBarTorque"]
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ret.steeringPressed = (self.hands_on_level > 0)
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ret.steerFaultPermanent = steer_status == "EAC_FAULT"
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ret.steerFaultTemporary = (self.steer_warning not in ("EAC_ERROR_IDLE", "EAC_ERROR_HANDS_ON"))
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# Cruise state
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cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp.vl["DI_state"]["DI_cruiseState"]), None)
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speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp.vl["DI_state"]["DI_speedUnits"]), None)
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acc_enabled = (cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL"))
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ret.cruiseState.enabled = acc_enabled
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if speed_units == "KPH":
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ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.KPH_TO_MS
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elif speed_units == "MPH":
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ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.MPH_TO_MS
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ret.cruiseState.available = ((cruise_state == "STANDBY") or ret.cruiseState.enabled)
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ret.cruiseState.standstill = False # This needs to be false, since we can resume from stop without sending anything special
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# Gear
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ret.gearShifter = GEAR_MAP[self.can_define.dv["DI_torque2"]["DI_gear"].get(int(cp.vl["DI_torque2"]["DI_gear"]), "DI_GEAR_INVALID")]
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# Buttons
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buttonEvents = []
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for button in BUTTONS:
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state = (cp.vl[button.can_addr][button.can_msg] in button.values)
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if self.button_states[button.event_type] != state:
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event = car.CarState.ButtonEvent.new_message()
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event.type = button.event_type
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event.pressed = state
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buttonEvents.append(event)
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self.button_states[button.event_type] = state
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ret.buttonEvents = buttonEvents
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# Doors
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ret.doorOpen = any((self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS)
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# Blinkers
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ret.leftBlinker = (cp.vl["GTW_carState"]["BC_indicatorLStatus"] == 1)
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ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1)
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# Seatbelt
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if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
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ret.seatbeltUnlatched = (cp.vl["DriverSeat"]["buckleStatus"] != 1)
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else:
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ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
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# TODO: blindspot
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# AEB
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ret.stockAeb = (cp_cam.vl["DAS_control"]["DAS_aebEvent"] == 1)
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# Messages needed by carcontroller
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self.msg_stw_actn_req = copy.copy(cp.vl["STW_ACTN_RQ"])
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self.acc_state = cp_cam.vl["DAS_control"]["DAS_accState"]
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self.das_control_counters.extend(cp_cam.vl_all["DAS_control"]["DAS_controlCounter"])
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return ret
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@staticmethod
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def get_can_parser(CP):
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messages = [
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# sig_address, frequency
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("ESP_B", 50),
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("DI_torque1", 100),
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("DI_torque2", 100),
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("STW_ANGLHP_STAT", 100),
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("EPAS_sysStatus", 25),
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("DI_state", 10),
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("STW_ACTN_RQ", 10),
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("GTW_carState", 10),
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("BrakeMessage", 50),
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]
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if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
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messages.append(("DriverSeat", 20))
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else:
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messages.append(("SDM1", 10))
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return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis)
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@staticmethod
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def get_cam_can_parser(CP):
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messages = [
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# sig_address, frequency
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("DAS_control", 40),
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]
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if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
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messages.append(("EPAS3P_sysStatus", 100))
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return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis)
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@ -1,32 +0,0 @@
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from cereal import car
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from openpilot.selfdrive.car.tesla.values import CAR
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Ecu = car.CarParams.Ecu
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FW_VERSIONS = {
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CAR.TESLA_AP2_MODELS: {
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(Ecu.adas, 0x649, None): [
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b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11',
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],
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(Ecu.electricBrakeBooster, 0x64d, None): [
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b'1037123-00-A',
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],
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(Ecu.fwdRadar, 0x671, None): [
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b'\x01\x00W\x00\x00\x00\x07\x00\x00\x00\x00\x08\x01\x00\x00\x00\x07\xff\xfe',
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],
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(Ecu.eps, 0x730, None): [
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b'\x10#\x01',
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],
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},
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CAR.TESLA_MODELS_RAVEN: {
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(Ecu.electricBrakeBooster, 0x64d, None): [
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b'1037123-00-A',
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],
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(Ecu.fwdRadar, 0x671, None): [
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b'\x01\x00\x99\x02\x01\x00\x10\x00\x00AP8.3.03\x00\x10',
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],
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(Ecu.eps, 0x730, None): [
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b'SX_0.0.0 (99),SR013.7',
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],
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},
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}
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@ -1,40 +0,0 @@
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#!/usr/bin/env python3
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from cereal import car
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from panda import Panda
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from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
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from openpilot.selfdrive.car import get_safety_config
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
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ret.carName = "tesla"
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# There is no safe way to do steer blending with user torque,
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# so the steering behaves like autopilot. This is not
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# how openpilot should be, hence dashcamOnly
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ret.dashcamOnly = True
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ret.steerControlType = car.CarParams.SteerControlType.angle
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ret.longitudinalActuatorDelay = 0.5 # s
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ret.radarTimeStep = (1.0 / 8) # 8Hz
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# Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
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# If so, we assume that it is connected to the longitudinal harness.
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flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.TESLA_MODELS_RAVEN else 0)
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if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
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ret.openpilotLongitudinalControl = True
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flags |= Panda.FLAG_TESLA_LONG_CONTROL
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ret.safetyConfigs = [
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get_safety_config(car.CarParams.SafetyModel.tesla, flags),
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get_safety_config(car.CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
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]
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else:
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ret.openpilotLongitudinalControl = False
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)]
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ret.steerLimitTimer = 1.0
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ret.steerActuatorDelay = 0.25
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return ret
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@ -1,90 +0,0 @@
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#!/usr/bin/env python3
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from cereal import car
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from opendbc.can.parser import CANParser
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from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS
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from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
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class RadarInterface(RadarInterfaceBase):
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def __init__(self, CP):
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super().__init__(CP)
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if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
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messages = [('RadarStatus', 16)]
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self.num_points = 40
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self.trigger_msg = 1119
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else:
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messages = [('TeslaRadarSguInfo', 10)]
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self.num_points = 32
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self.trigger_msg = 878
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for i in range(self.num_points):
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messages.extend([
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(f'RadarPoint{i}_A', 16),
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(f'RadarPoint{i}_B', 16),
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])
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self.rcp = CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
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self.updated_messages = set()
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self.track_id = 0
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def update(self, can_strings):
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if self.rcp is None:
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return super().update(None)
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values = self.rcp.update_strings(can_strings)
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self.updated_messages.update(values)
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if self.trigger_msg not in self.updated_messages:
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return None
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ret = car.RadarData.new_message()
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# Errors
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errors = []
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if not self.rcp.can_valid:
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errors.append('canError')
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if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
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radar_status = self.rcp.vl['RadarStatus']
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if radar_status['sensorBlocked'] or radar_status['shortTermUnavailable'] or radar_status['vehDynamicsError']:
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errors.append('fault')
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else:
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radar_status = self.rcp.vl['TeslaRadarSguInfo']
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if radar_status['RADC_HWFail'] or radar_status['RADC_SGUFail'] or radar_status['RADC_SensorDirty']:
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errors.append('fault')
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ret.errors = errors
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# Radar tracks
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||||
for i in range(self.num_points):
|
||||
msg_a = self.rcp.vl[f'RadarPoint{i}_A']
|
||||
msg_b = self.rcp.vl[f'RadarPoint{i}_B']
|
||||
|
||||
# Make sure msg A and B are together
|
||||
if msg_a['Index'] != msg_b['Index2']:
|
||||
continue
|
||||
|
||||
# Check if it's a valid track
|
||||
if not msg_a['Tracked']:
|
||||
if i in self.pts:
|
||||
del self.pts[i]
|
||||
continue
|
||||
|
||||
# New track!
|
||||
if i not in self.pts:
|
||||
self.pts[i] = car.RadarData.RadarPoint.new_message()
|
||||
self.pts[i].trackId = self.track_id
|
||||
self.track_id += 1
|
||||
|
||||
# Parse track data
|
||||
self.pts[i].dRel = msg_a['LongDist']
|
||||
self.pts[i].yRel = msg_a['LatDist']
|
||||
self.pts[i].vRel = msg_a['LongSpeed']
|
||||
self.pts[i].aRel = msg_a['LongAccel']
|
||||
self.pts[i].yvRel = msg_b['LatSpeed']
|
||||
self.pts[i].measured = bool(msg_a['Meas'])
|
||||
|
||||
ret.points = list(self.pts.values())
|
||||
self.updated_messages.clear()
|
||||
return ret
|
||||
|
|
@ -1,94 +0,0 @@
|
|||
import crcmod
|
||||
|
||||
from openpilot.selfdrive.car.conversions import Conversions as CV
|
||||
from openpilot.selfdrive.car.tesla.values import CANBUS, CarControllerParams
|
||||
|
||||
|
||||
class TeslaCAN:
|
||||
def __init__(self, packer, pt_packer):
|
||||
self.packer = packer
|
||||
self.pt_packer = pt_packer
|
||||
self.crc = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
|
||||
|
||||
@staticmethod
|
||||
def checksum(msg_id, dat):
|
||||
# TODO: get message ID from name instead
|
||||
ret = (msg_id & 0xFF) + ((msg_id >> 8) & 0xFF)
|
||||
ret += sum(dat)
|
||||
return ret & 0xFF
|
||||
|
||||
def create_steering_control(self, angle, enabled, counter):
|
||||
values = {
|
||||
"DAS_steeringAngleRequest": -angle,
|
||||
"DAS_steeringHapticRequest": 0,
|
||||
"DAS_steeringControlType": 1 if enabled else 0,
|
||||
"DAS_steeringControlCounter": counter,
|
||||
}
|
||||
|
||||
data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[1]
|
||||
values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
|
||||
return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)
|
||||
|
||||
def create_action_request(self, msg_stw_actn_req, cancel, bus, counter):
|
||||
# We copy this whole message when spamming cancel
|
||||
values = {s: msg_stw_actn_req[s] for s in [
|
||||
"SpdCtrlLvr_Stat",
|
||||
"VSL_Enbl_Rq",
|
||||
"SpdCtrlLvrStat_Inv",
|
||||
"DTR_Dist_Rq",
|
||||
"TurnIndLvr_Stat",
|
||||
"HiBmLvr_Stat",
|
||||
"WprWashSw_Psd",
|
||||
"WprWash_R_Sw_Posn_V2",
|
||||
"StW_Lvr_Stat",
|
||||
"StW_Cond_Flt",
|
||||
"StW_Cond_Psd",
|
||||
"HrnSw_Psd",
|
||||
"StW_Sw00_Psd",
|
||||
"StW_Sw01_Psd",
|
||||
"StW_Sw02_Psd",
|
||||
"StW_Sw03_Psd",
|
||||
"StW_Sw04_Psd",
|
||||
"StW_Sw05_Psd",
|
||||
"StW_Sw06_Psd",
|
||||
"StW_Sw07_Psd",
|
||||
"StW_Sw08_Psd",
|
||||
"StW_Sw09_Psd",
|
||||
"StW_Sw10_Psd",
|
||||
"StW_Sw11_Psd",
|
||||
"StW_Sw12_Psd",
|
||||
"StW_Sw13_Psd",
|
||||
"StW_Sw14_Psd",
|
||||
"StW_Sw15_Psd",
|
||||
"WprSw6Posn",
|
||||
"MC_STW_ACTN_RQ",
|
||||
"CRC_STW_ACTN_RQ",
|
||||
]}
|
||||
|
||||
if cancel:
|
||||
values["SpdCtrlLvr_Stat"] = 1
|
||||
values["MC_STW_ACTN_RQ"] = counter
|
||||
|
||||
data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[1]
|
||||
values["CRC_STW_ACTN_RQ"] = self.crc(data[:7])
|
||||
return self.packer.make_can_msg("STW_ACTN_RQ", bus, values)
|
||||
|
||||
def create_longitudinal_commands(self, acc_state, speed, min_accel, max_accel, cnt):
|
||||
messages = []
|
||||
values = {
|
||||
"DAS_setSpeed": speed * CV.MS_TO_KPH,
|
||||
"DAS_accState": acc_state,
|
||||
"DAS_aebEvent": 0,
|
||||
"DAS_jerkMin": CarControllerParams.JERK_LIMIT_MIN,
|
||||
"DAS_jerkMax": CarControllerParams.JERK_LIMIT_MAX,
|
||||
"DAS_accelMin": min_accel,
|
||||
"DAS_accelMax": max_accel,
|
||||
"DAS_controlCounter": cnt,
|
||||
"DAS_controlChecksum": 0,
|
||||
}
|
||||
|
||||
for packer, bus in [(self.packer, CANBUS.chassis), (self.pt_packer, CANBUS.powertrain)]:
|
||||
data = packer.make_can_msg("DAS_control", bus, values)[1]
|
||||
values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
|
||||
messages.append(packer.make_can_msg("DAS_control", bus, values))
|
||||
return messages
|
||||
|
|
@ -1,98 +0,0 @@
|
|||
from collections import namedtuple
|
||||
|
||||
from cereal import car
|
||||
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformConfig, Platforms, dbc_dict
|
||||
from openpilot.selfdrive.car.docs_definitions import CarDocs
|
||||
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
|
||||
|
||||
class CAR(Platforms):
|
||||
TESLA_AP1_MODELS = PlatformConfig(
|
||||
[CarDocs("Tesla AP1 Model S", "All")],
|
||||
CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0),
|
||||
dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can')
|
||||
)
|
||||
TESLA_AP2_MODELS = PlatformConfig(
|
||||
[CarDocs("Tesla AP2 Model S", "All")],
|
||||
TESLA_AP1_MODELS.specs,
|
||||
TESLA_AP1_MODELS.dbc_dict
|
||||
)
|
||||
TESLA_MODELS_RAVEN = PlatformConfig(
|
||||
[CarDocs("Tesla Model S Raven", "All")],
|
||||
TESLA_AP1_MODELS.specs,
|
||||
dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can')
|
||||
)
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.eps],
|
||||
rx_offset=0x08,
|
||||
bus=0,
|
||||
),
|
||||
Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.SUPPLIER_SOFTWARE_VERSION_REQUEST],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.eps],
|
||||
rx_offset=0x08,
|
||||
bus=0,
|
||||
),
|
||||
Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.adas, Ecu.electricBrakeBooster, Ecu.fwdRadar],
|
||||
rx_offset=0x10,
|
||||
bus=0,
|
||||
),
|
||||
]
|
||||
)
|
||||
|
||||
class CANBUS:
|
||||
# Lateral harness
|
||||
chassis = 0
|
||||
radar = 1
|
||||
autopilot_chassis = 2
|
||||
|
||||
# Longitudinal harness
|
||||
powertrain = 4
|
||||
private = 5
|
||||
autopilot_powertrain = 6
|
||||
|
||||
GEAR_MAP = {
|
||||
"DI_GEAR_INVALID": car.CarState.GearShifter.unknown,
|
||||
"DI_GEAR_P": car.CarState.GearShifter.park,
|
||||
"DI_GEAR_R": car.CarState.GearShifter.reverse,
|
||||
"DI_GEAR_N": car.CarState.GearShifter.neutral,
|
||||
"DI_GEAR_D": car.CarState.GearShifter.drive,
|
||||
"DI_GEAR_SNA": car.CarState.GearShifter.unknown,
|
||||
}
|
||||
|
||||
DOORS = ["DOOR_STATE_FL", "DOOR_STATE_FR", "DOOR_STATE_RL", "DOOR_STATE_RR", "DOOR_STATE_FrontTrunk", "BOOT_STATE"]
|
||||
|
||||
# Make sure the message and addr is also in the CAN parser!
|
||||
BUTTONS = [
|
||||
Button(car.CarState.ButtonEvent.Type.leftBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [1]),
|
||||
Button(car.CarState.ButtonEvent.Type.rightBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [2]),
|
||||
Button(car.CarState.ButtonEvent.Type.accelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [4, 16]),
|
||||
Button(car.CarState.ButtonEvent.Type.decelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [8, 32]),
|
||||
Button(car.CarState.ButtonEvent.Type.cancel, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]),
|
||||
Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [2]),
|
||||
]
|
||||
|
||||
class CarControllerParams:
|
||||
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3])
|
||||
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8])
|
||||
JERK_LIMIT_MAX = 8
|
||||
JERK_LIMIT_MIN = -8
|
||||
ACCEL_TO_SPEED_MULTIPLIER = 3
|
||||
|
||||
def __init__(self, CP):
|
||||
pass
|
||||
|
||||
|
||||
DBC = CAR.create_dbc_map()
|
||||
|
|
@ -12,7 +12,6 @@ from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
|
|||
from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
|
||||
from openpilot.selfdrive.car.values import Platform
|
||||
from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
|
||||
from openpilot.selfdrive.car.tesla.values import CAR as TESLA
|
||||
from openpilot.selfdrive.car.body.values import CAR as COMMA
|
||||
|
||||
# TODO: add routes for these cars
|
||||
|
|
@ -289,10 +288,6 @@ routes = [
|
|||
CarTestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.MAZDA_CX9_2021),
|
||||
CarTestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.MAZDA_CX5_2022),
|
||||
|
||||
CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.TESLA_AP1_MODELS),
|
||||
CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.TESLA_AP2_MODELS),
|
||||
CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.TESLA_MODELS_RAVEN),
|
||||
|
||||
# Segments that test specific issues
|
||||
# Controls mismatch due to standstill threshold
|
||||
CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.HONDA_CRV_HYBRID, segment=22),
|
||||
|
|
|
|||
|
|
@ -138,7 +138,7 @@ class TestCarInterfaces:
|
|||
def test_interface_attrs(self):
|
||||
"""Asserts basic behavior of interface attribute getter"""
|
||||
num_brands = len(get_interface_attr('CAR'))
|
||||
assert num_brands >= 13
|
||||
assert num_brands >= 12
|
||||
|
||||
# Should return value for all brands when not combining, even if attribute doesn't exist
|
||||
ret = get_interface_attr('FAKE_ATTR')
|
||||
|
|
|
|||
|
|
@ -267,7 +267,7 @@ class TestFwFingerprintTiming:
|
|||
print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
|
||||
|
||||
def test_fw_query_timing(self, subtests, mocker):
|
||||
total_ref_time = {1: 7.2, 2: 7.8}
|
||||
total_ref_time = {1: 6.9, 2: 7.5}
|
||||
brand_ref_times = {
|
||||
1: {
|
||||
'gm': 1.0,
|
||||
|
|
@ -279,14 +279,12 @@ class TestFwFingerprintTiming:
|
|||
'mazda': 0.1,
|
||||
'nissan': 0.8,
|
||||
'subaru': 0.65,
|
||||
'tesla': 0.3,
|
||||
'toyota': 0.7,
|
||||
'volkswagen': 0.65,
|
||||
},
|
||||
2: {
|
||||
'ford': 1.6,
|
||||
'hyundai': 1.15,
|
||||
'tesla': 0.3,
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -15,11 +15,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
|||
# Toyota LTA also has torque
|
||||
"TOYOTA_RAV4_TSS2_2023" = [nan, 3.0, nan]
|
||||
|
||||
# Tesla has high torque
|
||||
"TESLA_AP1_MODELS" = [nan, 2.5, nan]
|
||||
"TESLA_AP2_MODELS" = [nan, 2.5, nan]
|
||||
"TESLA_MODELS_RAVEN" = [nan, 2.5, nan]
|
||||
|
||||
# Guess
|
||||
"FORD_BRONCO_SPORT_MK1" = [nan, 1.5, nan]
|
||||
"FORD_ESCAPE_MK4" = [nan, 1.5, nan]
|
||||
|
|
|
|||
|
|
@ -9,11 +9,10 @@ from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
|
|||
from openpilot.selfdrive.car.mock.values import CAR as MOCK
|
||||
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 | MOCK | NISSAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
|
||||
Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | SUBARU | TOYOTA | VOLKSWAGEN
|
||||
BRANDS = get_args(Platform)
|
||||
|
||||
PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in brand}
|
||||
|
|
|
|||
|
|
@ -36,7 +36,6 @@ source_segments = [
|
|||
("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.FORD_BRONCO_SPORT_MK1
|
||||
|
||||
# Enable when port is tested and dashcamOnly is no longer set
|
||||
#("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.TESLA_AP2_MODELS
|
||||
#("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS
|
||||
]
|
||||
|
||||
|
|
@ -61,7 +60,7 @@ segments = [
|
|||
]
|
||||
|
||||
# dashcamOnly makes don't need to be tested until a full port is done
|
||||
excluded_interfaces = ["mock", "tesla"]
|
||||
excluded_interfaces = ["mock"]
|
||||
|
||||
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
||||
REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
|
||||
|
|
|
|||
Loading…
Reference in New Issue