Revert "move car.capnp to opendbc" (#33725)
Revert "move car.capnp to opendbc (#33722)"
This reverts commit 8149f7cb11.
This commit is contained in:
Shane Smiskol
@@ -1 +0,0 @@
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../opendbc_repo/opendbc/car/car.capnp
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722
cereal/car.capnp
Normal file
722
cereal/car.capnp
Normal file
@@ -0,0 +1,722 @@
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using Cxx = import "./include/c++.capnp";
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$Cxx.namespace("cereal");
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@0x8e2af1e708af8b8d;
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# ******* events causing controls state machine transition *******
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# IMPORTANT: This struct is to not be modified so old logs can be parsed
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struct OnroadEventDEPRECATED @0x9b1657f34caf3ad3 {
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name @0 :EventName;
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# event types
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enable @1 :Bool;
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noEntry @2 :Bool;
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warning @3 :Bool; # alerts presented only when enabled or soft disabling
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userDisable @4 :Bool;
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softDisable @5 :Bool;
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immediateDisable @6 :Bool;
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preEnable @7 :Bool;
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permanent @8 :Bool; # alerts presented regardless of openpilot state
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overrideLateral @10 :Bool;
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overrideLongitudinal @9 :Bool;
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enum EventName @0xbaa8c5d505f727de {
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canError @0;
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steerUnavailable @1;
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wrongGear @4;
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doorOpen @5;
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seatbeltNotLatched @6;
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espDisabled @7;
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wrongCarMode @8;
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steerTempUnavailable @9;
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reverseGear @10;
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buttonCancel @11;
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buttonEnable @12;
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pedalPressed @13; # exits active state
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preEnableStandstill @73; # added during pre-enable state with brake
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gasPressedOverride @108; # added when user is pressing gas with no disengage on gas
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steerOverride @114;
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cruiseDisabled @14;
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speedTooLow @17;
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outOfSpace @18;
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overheat @19;
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calibrationIncomplete @20;
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calibrationInvalid @21;
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calibrationRecalibrating @117;
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controlsMismatch @22;
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pcmEnable @23;
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pcmDisable @24;
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radarFault @26;
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brakeHold @28;
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parkBrake @29;
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manualRestart @30;
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joystickDebug @34;
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longitudinalManeuver @124;
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steerTempUnavailableSilent @35;
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resumeRequired @36;
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preDriverDistracted @37;
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promptDriverDistracted @38;
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driverDistracted @39;
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preDriverUnresponsive @43;
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promptDriverUnresponsive @44;
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driverUnresponsive @45;
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belowSteerSpeed @46;
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lowBattery @48;
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accFaulted @51;
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sensorDataInvalid @52;
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commIssue @53;
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commIssueAvgFreq @109;
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tooDistracted @54;
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posenetInvalid @55;
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soundsUnavailable @56;
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preLaneChangeLeft @57;
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preLaneChangeRight @58;
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laneChange @59;
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lowMemory @63;
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stockAeb @64;
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ldw @65;
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carUnrecognized @66;
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invalidLkasSetting @69;
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speedTooHigh @70;
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laneChangeBlocked @71;
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relayMalfunction @72;
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stockFcw @74;
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startup @75;
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startupNoCar @76;
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startupNoControl @77;
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startupNoSecOcKey @125;
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startupMaster @78;
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fcw @79;
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steerSaturated @80;
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belowEngageSpeed @84;
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noGps @85;
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wrongCruiseMode @87;
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modeldLagging @89;
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deviceFalling @90;
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fanMalfunction @91;
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cameraMalfunction @92;
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cameraFrameRate @110;
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processNotRunning @95;
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dashcamMode @96;
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selfdriveInitializing @98;
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usbError @99;
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cruiseMismatch @106;
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canBusMissing @111;
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selfdrivedLagging @112;
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resumeBlocked @113;
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steerTimeLimit @115;
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vehicleSensorsInvalid @116;
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locationdTemporaryError @103;
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locationdPermanentError @118;
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paramsdTemporaryError @50;
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paramsdPermanentError @119;
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actuatorsApiUnavailable @120;
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espActive @121;
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personalityChanged @122;
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aeb @123;
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radarCanErrorDEPRECATED @15;
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communityFeatureDisallowedDEPRECATED @62;
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radarCommIssueDEPRECATED @67;
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driverMonitorLowAccDEPRECATED @68;
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gasUnavailableDEPRECATED @3;
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dataNeededDEPRECATED @16;
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modelCommIssueDEPRECATED @27;
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ipasOverrideDEPRECATED @33;
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geofenceDEPRECATED @40;
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driverMonitorOnDEPRECATED @41;
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driverMonitorOffDEPRECATED @42;
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calibrationProgressDEPRECATED @47;
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invalidGiraffeHondaDEPRECATED @49;
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invalidGiraffeToyotaDEPRECATED @60;
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internetConnectivityNeededDEPRECATED @61;
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whitePandaUnsupportedDEPRECATED @81;
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commIssueWarningDEPRECATED @83;
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focusRecoverActiveDEPRECATED @86;
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neosUpdateRequiredDEPRECATED @88;
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modelLagWarningDEPRECATED @93;
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startupOneplusDEPRECATED @82;
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startupFuzzyFingerprintDEPRECATED @97;
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noTargetDEPRECATED @25;
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brakeUnavailableDEPRECATED @2;
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plannerErrorDEPRECATED @32;
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gpsMalfunctionDEPRECATED @94;
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roadCameraErrorDEPRECATED @100;
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driverCameraErrorDEPRECATED @101;
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wideRoadCameraErrorDEPRECATED @102;
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highCpuUsageDEPRECATED @105;
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startupNoFwDEPRECATED @104;
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lowSpeedLockoutDEPRECATED @31;
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lkasDisabledDEPRECATED @107;
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}
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}
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# ******* main car state @ 100hz *******
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# all speeds in m/s
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struct CarState {
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# CAN health
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canValid @26 :Bool; # invalid counter/checksums
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canTimeout @40 :Bool; # CAN bus dropped out
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canErrorCounter @48 :UInt32;
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# car speed
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vEgo @1 :Float32; # best estimate of speed
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aEgo @16 :Float32; # best estimate of aCAN cceleration
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vEgoRaw @17 :Float32; # unfiltered speed from wheel speed sensors
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vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI
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vCruise @53 :Float32; # actual set speed
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vCruiseCluster @54 :Float32; # set speed to display in the UI
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yawRate @22 :Float32; # best estimate of yaw rate
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standstill @18 :Bool;
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wheelSpeeds @2 :WheelSpeeds;
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# gas pedal, 0.0-1.0
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gas @3 :Float32; # this is user pedal only
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gasPressed @4 :Bool; # this is user pedal only
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engineRpm @46 :Float32;
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# brake pedal, 0.0-1.0
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brake @5 :Float32; # this is user pedal only
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brakePressed @6 :Bool; # this is user pedal only
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regenBraking @45 :Bool; # this is user pedal only
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parkingBrake @39 :Bool;
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brakeHoldActive @38 :Bool;
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# steering wheel
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steeringAngleDeg @7 :Float32;
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steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
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steeringRateDeg @15 :Float32;
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steeringTorque @8 :Float32; # TODO: standardize units
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steeringTorqueEps @27 :Float32; # TODO: standardize units
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steeringPressed @9 :Bool; # if the user is using the steering wheel
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steerFaultTemporary @35 :Bool; # temporary EPS fault
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steerFaultPermanent @36 :Bool; # permanent EPS fault
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invalidLkasSetting @55 :Bool; # stock LKAS is incorrectly configured (i.e. on or off)
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stockAeb @30 :Bool;
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stockFcw @31 :Bool;
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espDisabled @32 :Bool;
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accFaulted @42 :Bool;
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carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable
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espActive @51 :Bool;
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vehicleSensorsInvalid @52 :Bool; # invalid steering angle readings, etc.
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lowSpeedAlert @56 :Bool; # lost steering control due to a dynamic min steering speed
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# cruise state
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cruiseState @10 :CruiseState;
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# gear
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gearShifter @14 :GearShifter;
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# button presses
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buttonEvents @11 :List(ButtonEvent);
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leftBlinker @20 :Bool;
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rightBlinker @21 :Bool;
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genericToggle @23 :Bool;
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# lock info
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doorOpen @24 :Bool;
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seatbeltUnlatched @25 :Bool;
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# clutch (manual transmission only)
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clutchPressed @28 :Bool;
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# blindspot sensors
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leftBlindspot @33 :Bool; # Is there something blocking the left lane change
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rightBlindspot @34 :Bool; # Is there something blocking the right lane change
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fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
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charging @43 :Bool;
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# process meta
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cumLagMs @50 :Float32;
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struct WheelSpeeds {
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# optional wheel speeds
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fl @0 :Float32;
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fr @1 :Float32;
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rl @2 :Float32;
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rr @3 :Float32;
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}
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struct CruiseState {
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enabled @0 :Bool;
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speed @1 :Float32;
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speedCluster @6 :Float32; # Set speed as shown on instrument cluster
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available @2 :Bool;
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speedOffset @3 :Float32;
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standstill @4 :Bool;
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nonAdaptive @5 :Bool;
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}
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enum GearShifter {
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unknown @0;
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park @1;
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drive @2;
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neutral @3;
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reverse @4;
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sport @5;
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low @6;
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brake @7;
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eco @8;
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manumatic @9;
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}
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# send on change
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struct ButtonEvent {
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pressed @0 :Bool;
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type @1 :Type;
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enum Type {
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unknown @0;
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leftBlinker @1;
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rightBlinker @2;
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accelCruise @3;
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decelCruise @4;
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cancel @5;
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altButton1 @6;
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altButton2 @7;
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mainCruise @8;
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setCruise @9;
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resumeCruise @10;
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gapAdjustCruise @11;
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}
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}
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# deprecated
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errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName);
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brakeLightsDEPRECATED @19 :Bool;
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steeringRateLimitedDEPRECATED @29 :Bool;
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canMonoTimesDEPRECATED @12: List(UInt64);
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canRcvTimeoutDEPRECATED @49 :Bool;
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eventsDEPRECATED @13 :List(OnroadEventDEPRECATED);
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}
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# ******* radar state @ 20hz *******
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struct RadarData @0x888ad6581cf0aacb {
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errors @0 :List(Error);
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points @1 :List(RadarPoint);
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enum Error {
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canError @0;
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fault @1;
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wrongConfig @2;
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}
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# similar to LiveTracks
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# is one timestamp valid for all? I think so
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struct RadarPoint {
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trackId @0 :UInt64; # no trackId reuse
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# these 3 are the minimum required
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dRel @1 :Float32; # m from the front bumper of the car
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yRel @2 :Float32; # m
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vRel @3 :Float32; # m/s
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# these are optional and valid if they are not NaN
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aRel @4 :Float32; # m/s^2
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yvRel @5 :Float32; # m/s
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# some radars flag measurements VS estimates
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measured @6 :Bool;
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}
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# deprecated
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canMonoTimesDEPRECATED @2 :List(UInt64);
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}
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# ******* car controls @ 100hz *******
|
||||
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struct CarControl {
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# must be true for any actuator commands to work
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enabled @0 :Bool;
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latActive @11: Bool;
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longActive @12: Bool;
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||||
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||||
# Final actuator commands
|
||||
actuators @6 :Actuators;
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||||
|
||||
# Blinker controls
|
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leftBlinker @15: Bool;
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rightBlinker @16: Bool;
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orientationNED @13 :List(Float32);
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angularVelocity @14 :List(Float32);
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cruiseControl @4 :CruiseControl;
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hudControl @5 :HUDControl;
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||||
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struct Actuators {
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# lateral commands, mutually exclusive
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steer @2: Float32; # [0.0, 1.0]
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steeringAngleDeg @3: Float32;
|
||||
curvature @7: Float32;
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||||
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||||
# longitudinal commands
|
||||
accel @4: Float32; # m/s^2
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longControlState @5: LongControlState;
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||||
# these are only for logging the actual values sent to the car over CAN
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gas @0: Float32; # [0.0, 1.0]
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brake @1: Float32; # [0.0, 1.0]
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steerOutputCan @8: Float32; # value sent over can to the car
|
||||
speed @6: Float32; # m/s
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||||
|
||||
enum LongControlState @0xe40f3a917d908282{
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||||
off @0;
|
||||
pid @1;
|
||||
stopping @2;
|
||||
starting @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct CruiseControl {
|
||||
cancel @0: Bool;
|
||||
resume @1: Bool;
|
||||
override @4: Bool;
|
||||
speedOverrideDEPRECATED @2: Float32;
|
||||
accelOverrideDEPRECATED @3: Float32;
|
||||
}
|
||||
|
||||
struct HUDControl {
|
||||
speedVisible @0: Bool;
|
||||
setSpeed @1: Float32;
|
||||
lanesVisible @2: Bool;
|
||||
leadVisible @3: Bool;
|
||||
visualAlert @4: VisualAlert;
|
||||
audibleAlert @5: AudibleAlert;
|
||||
rightLaneVisible @6: Bool;
|
||||
leftLaneVisible @7: Bool;
|
||||
rightLaneDepart @8: Bool;
|
||||
leftLaneDepart @9: Bool;
|
||||
leadDistanceBars @10: Int8; # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
|
||||
|
||||
enum VisualAlert {
|
||||
# these are the choices from the Honda
|
||||
# map as good as you can for your car
|
||||
none @0;
|
||||
fcw @1;
|
||||
steerRequired @2;
|
||||
brakePressed @3;
|
||||
wrongGear @4;
|
||||
seatbeltUnbuckled @5;
|
||||
speedTooHigh @6;
|
||||
ldw @7;
|
||||
}
|
||||
|
||||
enum AudibleAlert {
|
||||
none @0;
|
||||
|
||||
engage @1;
|
||||
disengage @2;
|
||||
refuse @3;
|
||||
|
||||
warningSoft @4;
|
||||
warningImmediate @5;
|
||||
|
||||
prompt @6;
|
||||
promptRepeat @7;
|
||||
promptDistracted @8;
|
||||
}
|
||||
}
|
||||
|
||||
gasDEPRECATED @1 :Float32;
|
||||
brakeDEPRECATED @2 :Float32;
|
||||
steeringTorqueDEPRECATED @3 :Float32;
|
||||
activeDEPRECATED @7 :Bool;
|
||||
rollDEPRECATED @8 :Float32;
|
||||
pitchDEPRECATED @9 :Float32;
|
||||
actuatorsOutputDEPRECATED @10 :Actuators;
|
||||
}
|
||||
|
||||
struct CarOutput {
|
||||
# Any car specific rate limits or quirks applied by
|
||||
# the CarController are reflected in actuatorsOutput
|
||||
# and matches what is sent to the car
|
||||
actuatorsOutput @0 :CarControl.Actuators;
|
||||
}
|
||||
|
||||
# ****** car param ******
|
||||
|
||||
struct CarParams {
|
||||
carName @0 :Text;
|
||||
carFingerprint @1 :Text;
|
||||
fuzzyFingerprint @55 :Bool;
|
||||
|
||||
notCar @66 :Bool; # flag for non-car robotics platforms
|
||||
|
||||
pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state?
|
||||
enableDsu @5 :Bool; # driving support unit
|
||||
enableBsm @56 :Bool; # blind spot monitoring
|
||||
flags @64 :UInt32; # flags for car specific quirks
|
||||
experimentalLongitudinalAvailable @71 :Bool;
|
||||
|
||||
minEnableSpeed @7 :Float32;
|
||||
minSteerSpeed @8 :Float32;
|
||||
safetyConfigs @62 :List(SafetyConfig);
|
||||
alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas
|
||||
|
||||
# Car docs fields
|
||||
maxLateralAccel @68 :Float32;
|
||||
autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically
|
||||
|
||||
# things about the car in the manual
|
||||
mass @17 :Float32; # [kg] curb weight: all fluids no cargo
|
||||
wheelbase @18 :Float32; # [m] distance from rear axle to front axle
|
||||
centerToFront @19 :Float32; # [m] distance from center of mass to front axle
|
||||
steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle
|
||||
steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0)
|
||||
|
||||
# things we can derive
|
||||
rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
|
||||
tireStiffnessFactor @72 :Float32; # scaling factor used in calculating tireStiffness[Front,Rear]
|
||||
tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff
|
||||
tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
|
||||
|
||||
longitudinalTuning @25 :LongitudinalPIDTuning;
|
||||
lateralParams @48 :LateralParams;
|
||||
lateralTuning :union {
|
||||
pid @26 :LateralPIDTuning;
|
||||
indiDEPRECATED @27 :LateralINDITuning;
|
||||
lqrDEPRECATED @40 :LateralLQRTuning;
|
||||
torque @67 :LateralTorqueTuning;
|
||||
}
|
||||
|
||||
steerLimitAlert @28 :Bool;
|
||||
steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
|
||||
|
||||
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
|
||||
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
|
||||
stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
|
||||
steerControlType @34 :SteerControlType;
|
||||
radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
|
||||
stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
|
||||
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
|
||||
startAccel @32 :Float32; # Required acceleration to get car moving
|
||||
startingState @70 :Bool; # Does this car make use of special starting state
|
||||
|
||||
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
|
||||
longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
|
||||
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
|
||||
carVin @38 :Text; # VIN number queried during fingerprinting
|
||||
dashcamOnly @41: Bool;
|
||||
passive @73: Bool; # is openpilot in control?
|
||||
transmissionType @43 :TransmissionType;
|
||||
carFw @44 :List(CarFw);
|
||||
|
||||
radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
|
||||
radarDelay @74 :Float32;
|
||||
fingerprintSource @49: FingerprintSource;
|
||||
networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
|
||||
|
||||
wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
|
||||
|
||||
secOcRequired @75 :Bool; # Car requires SecOC message authentication to operate
|
||||
secOcKeyAvailable @76 :Bool; # Stored SecOC key loaded from params
|
||||
|
||||
struct SafetyConfig {
|
||||
safetyModel @0 :SafetyModel;
|
||||
safetyParam @3 :UInt16;
|
||||
safetyParamDEPRECATED @1 :Int16;
|
||||
safetyParam2DEPRECATED @2 :UInt32;
|
||||
}
|
||||
|
||||
struct LateralParams {
|
||||
torqueBP @0 :List(Int32);
|
||||
torqueV @1 :List(Int32);
|
||||
}
|
||||
|
||||
struct LateralPIDTuning {
|
||||
kpBP @0 :List(Float32);
|
||||
kpV @1 :List(Float32);
|
||||
kiBP @2 :List(Float32);
|
||||
kiV @3 :List(Float32);
|
||||
kf @4 :Float32;
|
||||
}
|
||||
|
||||
struct LateralTorqueTuning {
|
||||
useSteeringAngle @0 :Bool;
|
||||
kp @1 :Float32;
|
||||
ki @2 :Float32;
|
||||
friction @3 :Float32;
|
||||
kf @4 :Float32;
|
||||
steeringAngleDeadzoneDeg @5 :Float32;
|
||||
latAccelFactor @6 :Float32;
|
||||
latAccelOffset @7 :Float32;
|
||||
}
|
||||
|
||||
struct LongitudinalPIDTuning {
|
||||
kpBP @0 :List(Float32);
|
||||
kpV @1 :List(Float32);
|
||||
kiBP @2 :List(Float32);
|
||||
kiV @3 :List(Float32);
|
||||
kf @6 :Float32;
|
||||
deadzoneBPDEPRECATED @4 :List(Float32);
|
||||
deadzoneVDEPRECATED @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LateralINDITuning {
|
||||
outerLoopGainBP @4 :List(Float32);
|
||||
outerLoopGainV @5 :List(Float32);
|
||||
innerLoopGainBP @6 :List(Float32);
|
||||
innerLoopGainV @7 :List(Float32);
|
||||
timeConstantBP @8 :List(Float32);
|
||||
timeConstantV @9 :List(Float32);
|
||||
actuatorEffectivenessBP @10 :List(Float32);
|
||||
actuatorEffectivenessV @11 :List(Float32);
|
||||
|
||||
outerLoopGainDEPRECATED @0 :Float32;
|
||||
innerLoopGainDEPRECATED @1 :Float32;
|
||||
timeConstantDEPRECATED @2 :Float32;
|
||||
actuatorEffectivenessDEPRECATED @3 :Float32;
|
||||
}
|
||||
|
||||
struct LateralLQRTuning {
|
||||
scale @0 :Float32;
|
||||
ki @1 :Float32;
|
||||
dcGain @2 :Float32;
|
||||
|
||||
# State space system
|
||||
a @3 :List(Float32);
|
||||
b @4 :List(Float32);
|
||||
c @5 :List(Float32);
|
||||
|
||||
k @6 :List(Float32); # LQR gain
|
||||
l @7 :List(Float32); # Kalman gain
|
||||
}
|
||||
|
||||
enum SafetyModel {
|
||||
silent @0;
|
||||
hondaNidec @1;
|
||||
toyota @2;
|
||||
elm327 @3;
|
||||
gm @4;
|
||||
hondaBoschGiraffe @5;
|
||||
ford @6;
|
||||
cadillac @7;
|
||||
hyundai @8;
|
||||
chrysler @9;
|
||||
tesla @10;
|
||||
subaru @11;
|
||||
gmPassive @12;
|
||||
mazda @13;
|
||||
nissan @14;
|
||||
volkswagen @15;
|
||||
toyotaIpas @16;
|
||||
allOutput @17;
|
||||
gmAscm @18;
|
||||
noOutput @19; # like silent but without silent CAN TXs
|
||||
hondaBosch @20;
|
||||
volkswagenPq @21;
|
||||
subaruPreglobal @22; # pre-Global platform
|
||||
hyundaiLegacy @23;
|
||||
hyundaiCommunity @24;
|
||||
volkswagenMlb @25;
|
||||
hongqi @26;
|
||||
body @27;
|
||||
hyundaiCanfd @28;
|
||||
volkswagenMqbEvo @29;
|
||||
chryslerCusw @30;
|
||||
psa @31;
|
||||
fcaGiorgio @32;
|
||||
}
|
||||
|
||||
enum SteerControlType {
|
||||
torque @0;
|
||||
angle @1;
|
||||
|
||||
curvatureDEPRECATED @2;
|
||||
}
|
||||
|
||||
enum TransmissionType {
|
||||
unknown @0;
|
||||
automatic @1; # Traditional auto, including DSG
|
||||
manual @2; # True "stick shift" only
|
||||
direct @3; # Electric vehicle or other direct drive
|
||||
cvt @4;
|
||||
}
|
||||
|
||||
struct CarFw {
|
||||
ecu @0 :Ecu;
|
||||
fwVersion @1 :Data;
|
||||
address @2 :UInt32;
|
||||
subAddress @3 :UInt8;
|
||||
responseAddress @4 :UInt32;
|
||||
request @5 :List(Data);
|
||||
brand @6 :Text;
|
||||
bus @7 :UInt8;
|
||||
logging @8 :Bool;
|
||||
obdMultiplexing @9 :Bool;
|
||||
}
|
||||
|
||||
enum Ecu {
|
||||
eps @0;
|
||||
abs @1;
|
||||
fwdRadar @2;
|
||||
fwdCamera @3;
|
||||
engine @4;
|
||||
unknown @5;
|
||||
transmission @8; # Transmission Control Module
|
||||
hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
|
||||
srs @9; # airbag
|
||||
gateway @10; # can gateway
|
||||
hud @11; # heads up display
|
||||
combinationMeter @12; # instrument cluster
|
||||
electricBrakeBooster @15;
|
||||
shiftByWire @16;
|
||||
adas @19;
|
||||
cornerRadar @21;
|
||||
hvac @20;
|
||||
parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
|
||||
epb @22; # electronic parking brake
|
||||
telematics @23;
|
||||
body @24; # body control module
|
||||
|
||||
# Toyota only
|
||||
dsu @6;
|
||||
|
||||
# Honda only
|
||||
vsa @13; # Vehicle Stability Assist
|
||||
programmedFuelInjection @14;
|
||||
|
||||
debug @17;
|
||||
}
|
||||
|
||||
enum FingerprintSource {
|
||||
can @0;
|
||||
fw @1;
|
||||
fixed @2;
|
||||
}
|
||||
|
||||
enum NetworkLocation {
|
||||
fwdCamera @0; # Standard/default integration at LKAS camera
|
||||
gateway @1; # Integration at vehicle's CAN gateway
|
||||
}
|
||||
|
||||
enableGasInterceptorDEPRECATED @2 :Bool;
|
||||
enableCameraDEPRECATED @4 :Bool;
|
||||
enableApgsDEPRECATED @6 :Bool;
|
||||
steerRateCostDEPRECATED @33 :Float32;
|
||||
isPandaBlackDEPRECATED @39 :Bool;
|
||||
hasStockCameraDEPRECATED @57 :Bool;
|
||||
safetyParamDEPRECATED @10 :Int16;
|
||||
safetyModelDEPRECATED @9 :SafetyModel;
|
||||
safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
|
||||
minSpeedCanDEPRECATED @51 :Float32;
|
||||
communityFeatureDEPRECATED @46: Bool;
|
||||
startingAccelRateDEPRECATED @53 :Float32;
|
||||
steerMaxBPDEPRECATED @11 :List(Float32);
|
||||
steerMaxVDEPRECATED @12 :List(Float32);
|
||||
gasMaxBPDEPRECATED @13 :List(Float32);
|
||||
gasMaxVDEPRECATED @14 :List(Float32);
|
||||
brakeMaxBPDEPRECATED @15 :List(Float32);
|
||||
brakeMaxVDEPRECATED @16 :List(Float32);
|
||||
directAccelControlDEPRECATED @30 :Bool;
|
||||
maxSteeringAngleDegDEPRECATED @54 :Float32;
|
||||
longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
|
||||
}
|
||||
Submodule opendbc_repo updated: ff2ac79e07...a363ce1ff4
@@ -21,6 +21,7 @@ from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
|
||||
from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
|
||||
from openpilot.selfdrive.car.cruise import VCruiseHelper
|
||||
from openpilot.selfdrive.car.car_specific import MockCarState
|
||||
from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
|
||||
|
||||
REPLAY = "REPLAY" in os.environ
|
||||
|
||||
@@ -62,7 +63,8 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
|
||||
class Car:
|
||||
CI: CarInterfaceBase
|
||||
RI: RadarInterfaceBase
|
||||
CP: car.CarParams
|
||||
CP: structs.CarParams
|
||||
CP_capnp: car.CarParams
|
||||
|
||||
def __init__(self, CI=None, RI=None) -> None:
|
||||
self.can_sock = messaging.sub_sock('can', timeout=20)
|
||||
@@ -142,7 +144,9 @@ class Car:
|
||||
self.params.put("CarParamsPrevRoute", prev_cp)
|
||||
|
||||
# Write CarParams for controls and radard
|
||||
cp_bytes = self.CP.to_bytes()
|
||||
# convert to pycapnp representation for caching and logging
|
||||
self.CP_capnp = convert_to_capnp(self.CP)
|
||||
cp_bytes = self.CP_capnp.to_bytes()
|
||||
self.params.put("CarParams", cp_bytes)
|
||||
self.params.put_nonblocking("CarParamsCache", cp_bytes)
|
||||
self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
|
||||
@@ -156,19 +160,19 @@ class Car:
|
||||
# card is driven by can recv, expected at 100Hz
|
||||
self.rk = Ratekeeper(100, print_delay_threshold=None)
|
||||
|
||||
def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
|
||||
def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
|
||||
"""carState update loop, driven by can"""
|
||||
|
||||
can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
|
||||
can_list = can_capnp_to_list(can_strs)
|
||||
|
||||
# Update carState from CAN
|
||||
CS = self.CI.update(can_list)
|
||||
CS = convert_to_capnp(self.CI.update(can_list))
|
||||
if self.CP.carName == 'mock':
|
||||
CS = self.mock_carstate.update(CS)
|
||||
|
||||
# Update radar tracks from CAN
|
||||
RD: structs.RadarDataT | None = self.RI.update(can_list)
|
||||
RD: structs.RadarData | None = self.RI.update(can_list)
|
||||
|
||||
self.sm.update(0)
|
||||
|
||||
@@ -188,20 +192,20 @@ class Car:
|
||||
|
||||
return CS, RD
|
||||
|
||||
def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
|
||||
def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
|
||||
"""carState and carParams publish loop"""
|
||||
|
||||
# carParams - logged every 50 seconds (> 1 per segment)
|
||||
if self.sm.frame % int(50. / DT_CTRL) == 0:
|
||||
cp_send = messaging.new_message('carParams')
|
||||
cp_send.valid = True
|
||||
cp_send.carParams = self.CP
|
||||
cp_send.carParams = self.CP_capnp
|
||||
self.pm.send('carParams', cp_send)
|
||||
|
||||
# publish new carOutput
|
||||
co_send = messaging.new_message('carOutput')
|
||||
co_send.valid = self.sm.all_checks(['carControl'])
|
||||
co_send.carOutput.actuatorsOutput = self.last_actuators_output
|
||||
co_send.carOutput.actuatorsOutput = convert_to_capnp(self.last_actuators_output)
|
||||
self.pm.send('carOutput', co_send)
|
||||
|
||||
# kick off controlsd step while we actuate the latest carControl packet
|
||||
@@ -215,7 +219,7 @@ class Car:
|
||||
if RD is not None:
|
||||
tracks_msg = messaging.new_message('liveTracks')
|
||||
tracks_msg.valid = len(RD.errors) == 0
|
||||
tracks_msg.liveTracks = RD
|
||||
tracks_msg.liveTracks = convert_to_capnp(RD)
|
||||
self.pm.send('liveTracks', tracks_msg)
|
||||
|
||||
def controls_update(self, CS: car.CarState, CC: car.CarControl):
|
||||
@@ -231,7 +235,7 @@ class Car:
|
||||
if self.sm.all_alive(['carControl']):
|
||||
# send car controls over can
|
||||
now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
|
||||
self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
|
||||
self.last_actuators_output, can_sends = self.CI.apply(convert_carControl(CC), now_nanos)
|
||||
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
|
||||
|
||||
self.CC_prev = CC
|
||||
|
||||
74
selfdrive/car/helpers.py
Normal file
74
selfdrive/car/helpers.py
Normal file
@@ -0,0 +1,74 @@
|
||||
import capnp
|
||||
from typing import Any
|
||||
|
||||
from cereal import car
|
||||
from opendbc.car import structs
|
||||
|
||||
_FIELDS = '__dataclass_fields__' # copy of dataclasses._FIELDS
|
||||
|
||||
|
||||
def is_dataclass(obj):
|
||||
"""Similar to dataclasses.is_dataclass without instance type check checking"""
|
||||
return hasattr(obj, _FIELDS)
|
||||
|
||||
|
||||
def _asdictref_inner(obj) -> dict[str, Any] | Any:
|
||||
if is_dataclass(obj):
|
||||
ret = {}
|
||||
for field in getattr(obj, _FIELDS): # similar to dataclasses.fields()
|
||||
ret[field] = _asdictref_inner(getattr(obj, field))
|
||||
return ret
|
||||
elif isinstance(obj, (tuple, list)):
|
||||
return type(obj)(_asdictref_inner(v) for v in obj)
|
||||
else:
|
||||
return obj
|
||||
|
||||
|
||||
def asdictref(obj) -> dict[str, Any]:
|
||||
"""
|
||||
Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
|
||||
Note that the resulting dict will contain references to the original struct as a result
|
||||
"""
|
||||
if not is_dataclass(obj):
|
||||
raise TypeError("asdictref() should be called on dataclass instances")
|
||||
|
||||
return _asdictref_inner(obj)
|
||||
|
||||
|
||||
def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators | structs.RadarData) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
struct_dict = asdictref(struct)
|
||||
|
||||
if isinstance(struct, structs.CarParams):
|
||||
del struct_dict['lateralTuning']
|
||||
struct_capnp = car.CarParams.new_message(**struct_dict)
|
||||
|
||||
# this is the only union, special handling
|
||||
which = struct.lateralTuning.which()
|
||||
struct_capnp.lateralTuning.init(which)
|
||||
lateralTuning_dict = asdictref(getattr(struct.lateralTuning, which))
|
||||
setattr(struct_capnp.lateralTuning, which, lateralTuning_dict)
|
||||
elif isinstance(struct, structs.CarState):
|
||||
struct_capnp = car.CarState.new_message(**struct_dict)
|
||||
elif isinstance(struct, structs.CarControl.Actuators):
|
||||
struct_capnp = car.CarControl.Actuators.new_message(**struct_dict)
|
||||
elif isinstance(struct, structs.RadarData):
|
||||
struct_capnp = car.RadarData.new_message(**struct_dict)
|
||||
else:
|
||||
raise ValueError(f"Unsupported struct type: {type(struct)}")
|
||||
|
||||
return struct_capnp
|
||||
|
||||
|
||||
def convert_carControl(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControl:
|
||||
# TODO: recursively handle any car struct as needed
|
||||
def remove_deprecated(s: dict) -> dict:
|
||||
return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
|
||||
|
||||
struct_dict = struct.to_dict()
|
||||
struct_dataclass = structs.CarControl(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
|
||||
|
||||
struct_dataclass.actuators = structs.CarControl.Actuators(**remove_deprecated(struct_dict.get('actuators', {})))
|
||||
struct_dataclass.cruiseControl = structs.CarControl.CruiseControl(**remove_deprecated(struct_dict.get('cruiseControl', {})))
|
||||
struct_dataclass.hudControl = structs.CarControl.HUDControl(**remove_deprecated(struct_dict.get('hudControl', {})))
|
||||
|
||||
return struct_dataclass
|
||||
@@ -12,6 +12,7 @@ from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
|
||||
from opendbc.car.fingerprints import all_known_cars
|
||||
from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
|
||||
from opendbc.car.mock.values import CAR as MOCK
|
||||
from openpilot.selfdrive.car.card import convert_carControl, convert_to_capnp
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
||||
@@ -40,7 +41,6 @@ class TestCarInterfaces:
|
||||
|
||||
car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
|
||||
experimental_long=args['experimental_long'], docs=False)
|
||||
car_params = car_params.as_reader()
|
||||
car_interface = CarInterface(car_params, CarController, CarState)
|
||||
assert car_params
|
||||
assert car_interface
|
||||
@@ -72,7 +72,7 @@ class TestCarInterfaces:
|
||||
# Run car interface
|
||||
now_nanos = 0
|
||||
CC = car.CarControl.new_message(**cc_msg)
|
||||
CC = CC.as_reader()
|
||||
CC = convert_carControl(CC.as_reader())
|
||||
for _ in range(10):
|
||||
car_interface.update([])
|
||||
car_interface.apply(CC, now_nanos)
|
||||
@@ -80,7 +80,7 @@ class TestCarInterfaces:
|
||||
|
||||
CC = car.CarControl.new_message(**cc_msg)
|
||||
CC.enabled = True
|
||||
CC = CC.as_reader()
|
||||
CC = convert_carControl(CC.as_reader())
|
||||
for _ in range(10):
|
||||
car_interface.update([])
|
||||
car_interface.apply(CC, now_nanos)
|
||||
@@ -89,10 +89,11 @@ class TestCarInterfaces:
|
||||
# Test controller initialization
|
||||
# TODO: wait until card refactor is merged to run controller a few times,
|
||||
# hypothesis also slows down significantly with just one more message draw
|
||||
LongControl(car_params)
|
||||
car_params_capnp = convert_to_capnp(car_params).as_reader()
|
||||
LongControl(car_params_capnp)
|
||||
if car_params.steerControlType == CarParams.SteerControlType.angle:
|
||||
LatControlAngle(car_params, car_interface)
|
||||
LatControlAngle(car_params_capnp, car_interface)
|
||||
elif car_params.lateralTuning.which() == 'pid':
|
||||
LatControlPID(car_params, car_interface)
|
||||
LatControlPID(car_params_capnp, car_interface)
|
||||
elif car_params.lateralTuning.which() == 'torque':
|
||||
LatControlTorque(car_params, car_interface)
|
||||
LatControlTorque(car_params_capnp, car_interface)
|
||||
|
||||
@@ -1,4 +1,6 @@
|
||||
import capnp
|
||||
import copy
|
||||
import dataclasses
|
||||
import os
|
||||
import pytest
|
||||
import random
|
||||
@@ -18,6 +20,7 @@ from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
|
||||
from opendbc.car.honda.values import CAR as HONDA, HondaFlags
|
||||
from opendbc.car.values import Platform
|
||||
from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
|
||||
from openpilot.selfdrive.car.card import convert_to_capnp
|
||||
from openpilot.selfdrive.selfdrived.events import ET
|
||||
from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
|
||||
from openpilot.selfdrive.pandad import can_capnp_to_list
|
||||
@@ -184,7 +187,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
del cls.can_msgs
|
||||
|
||||
def setUp(self):
|
||||
self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
|
||||
self.CI = self.CarInterface(copy.deepcopy(self.CP), self.CarController, self.CarState)
|
||||
assert self.CI
|
||||
|
||||
Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
|
||||
@@ -192,7 +195,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
# TODO: check safetyModel is in release panda build
|
||||
self.safety = libpanda_py.libpanda
|
||||
|
||||
cfg = self.CP.safetyConfigs[-1]
|
||||
cfg = car.CarParams.SafetyConfig(**dataclasses.asdict(self.CP.safetyConfigs[-1]))
|
||||
set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
|
||||
self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
|
||||
self.safety.init_tests()
|
||||
@@ -217,7 +220,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
# TODO: also check for checksum violations from can parser
|
||||
can_invalid_cnt = 0
|
||||
can_valid = False
|
||||
CC = structs.CarControl().as_reader()
|
||||
CC = structs.CarControl()
|
||||
|
||||
for i, msg in enumerate(self.can_msgs):
|
||||
CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
|
||||
@@ -309,17 +312,17 @@ class TestCarModelBase(unittest.TestCase):
|
||||
|
||||
# Make sure we can send all messages while inactive
|
||||
CC = structs.CarControl()
|
||||
test_car_controller(CC.as_reader())
|
||||
test_car_controller(CC)
|
||||
|
||||
# Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
|
||||
self.safety.set_cruise_engaged_prev(True)
|
||||
CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
|
||||
test_car_controller(CC.as_reader())
|
||||
test_car_controller(CC)
|
||||
|
||||
# Test resume + general messages (controls_allowed=True & cruise_engaged=True)
|
||||
self.safety.set_controls_allowed(True)
|
||||
CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
|
||||
test_car_controller(CC.as_reader())
|
||||
test_car_controller(CC)
|
||||
|
||||
# Skip stdout/stderr capture with pytest, causes elevated memory usage
|
||||
@pytest.mark.nocapture
|
||||
@@ -406,7 +409,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
selfdrived = SelfdriveD(CP=self.CP)
|
||||
selfdrived.initialized = True
|
||||
for idx, can in enumerate(self.can_msgs):
|
||||
CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader()
|
||||
CS = convert_to_capnp(self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))))
|
||||
for msg in filter(lambda m: m.src in range(64), can.can):
|
||||
to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
|
||||
ret = self.safety.safety_rx_hook(to_send)
|
||||
|
||||
@@ -5,6 +5,7 @@ from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.honda.values import CAR as HONDA
|
||||
from opendbc.car.toyota.values import CAR as TOYOTA
|
||||
from opendbc.car.nissan.values import CAR as NISSAN
|
||||
from openpilot.selfdrive.car.card import convert_to_capnp
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
|
||||
@@ -20,6 +21,7 @@ class TestLatControl:
|
||||
CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
|
||||
CP = CarInterface.get_non_essential_params(car_name)
|
||||
CI = CarInterface(CP, CarController, CarState)
|
||||
CP = convert_to_capnp(CP)
|
||||
VM = VehicleModel(CP)
|
||||
|
||||
controller = controller(CP.as_reader(), CI)
|
||||
|
||||
@@ -5,13 +5,14 @@ import numpy as np
|
||||
|
||||
from opendbc.car.honda.interface import CarInterface
|
||||
from opendbc.car.honda.values import CAR
|
||||
from openpilot.selfdrive.car.card import convert_to_capnp
|
||||
from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
|
||||
|
||||
|
||||
class TestVehicleModel:
|
||||
def setup_method(self):
|
||||
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
|
||||
self.VM = VehicleModel(CP)
|
||||
self.VM = VehicleModel(convert_to_capnp(CP))
|
||||
|
||||
def test_round_trip_yaw_rate(self):
|
||||
# TODO: fix VM to work at zero speed
|
||||
|
||||
@@ -2,16 +2,12 @@
|
||||
import jinja2
|
||||
import os
|
||||
|
||||
from cereal import car
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from opendbc.car.interfaces import get_interface_attr
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
CARS = get_interface_attr('CAR')
|
||||
FW_VERSIONS = get_interface_attr('FW_VERSIONS')
|
||||
FINGERPRINTS = get_interface_attr('FINGERPRINTS')
|
||||
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
|
||||
|
||||
FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
|
||||
{%- if FINGERPRINTS[brand] %}
|
||||
@@ -49,7 +45,7 @@ FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{
|
||||
{% for car, _ in FW_VERSIONS[brand].items() %}
|
||||
CAR.{{car.name}}: {
|
||||
{% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
|
||||
(Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
|
||||
(Ecu.{{key[0]}}, 0x{{"%0x" | format(key[1] | int)}}, \
|
||||
{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
|
||||
{% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
|
||||
{{fw_version}},
|
||||
@@ -71,9 +67,8 @@ def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tup
|
||||
comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
|
||||
|
||||
with open(fingerprints_file, "w") as f:
|
||||
f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
|
||||
FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
|
||||
extra_fw_versions=extra_fw_versions))
|
||||
f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, FINGERPRINTS=FINGERPRINTS,
|
||||
FW_VERSIONS=FW_VERSIONS, extra_fw_versions=extra_fw_versions))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -17,6 +17,7 @@ from openpilot.common.realtime import config_realtime_process
|
||||
from openpilot.common.transformations.camera import DEVICE_CAMERAS
|
||||
from openpilot.common.transformations.model import get_warp_matrix
|
||||
from openpilot.system import sentry
|
||||
from openpilot.selfdrive.car.card import convert_to_capnp
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
|
||||
from openpilot.selfdrive.modeld.parse_model_outputs import Parser
|
||||
@@ -183,7 +184,7 @@ def main(demo=False):
|
||||
|
||||
|
||||
if demo:
|
||||
CP = get_demo_car_params()
|
||||
CP = convert_to_capnp(get_demo_car_params())
|
||||
else:
|
||||
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
|
||||
cloudlog.info("modeld got CarParams: %s", CP.carName)
|
||||
|
||||
@@ -7,6 +7,7 @@ from opendbc.car.car_helpers import get_demo_car_params
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.transformations.camera import DEVICE_CAMERAS
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.car.card import convert_to_capnp
|
||||
from openpilot.system.manager.process_config import managed_processes
|
||||
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
|
||||
|
||||
@@ -23,7 +24,7 @@ class TestModeld:
|
||||
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
|
||||
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
|
||||
self.vipc_server.start_listener()
|
||||
Params().put("CarParams", get_demo_car_params().to_bytes())
|
||||
Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes())
|
||||
|
||||
self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
|
||||
self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
|
||||
|
||||
@@ -24,7 +24,7 @@ from openpilot.common.prefix import OpenpilotPrefix
|
||||
from openpilot.common.timeout import Timeout
|
||||
from openpilot.common.realtime import DT_CTRL
|
||||
from panda.python import ALTERNATIVE_EXPERIENCE
|
||||
from openpilot.selfdrive.car.card import can_comm_callbacks
|
||||
from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
|
||||
from openpilot.system.manager.process_config import managed_processes
|
||||
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
|
||||
from openpilot.selfdrive.test.process_replay.migration import migrate_all
|
||||
@@ -370,7 +370,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
|
||||
if not params.get_bool("DisengageOnAccelerator"):
|
||||
CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
|
||||
|
||||
params.put("CarParams", CP.to_bytes())
|
||||
params.put("CarParams", convert_to_capnp(CP).to_bytes())
|
||||
|
||||
|
||||
def selfdrived_rcv_callback(msg, cfg, frame):
|
||||
|
||||
@@ -1 +1 @@
|
||||
cbe81fea9b820b8dd38667866aac72a8a0dae966
|
||||
05570b52a90fb8bf092f7a2563d6019577e1aa5d
|
||||
@@ -10,6 +10,7 @@ from cereal.services import SERVICE_LIST
|
||||
from opendbc.car.car_helpers import get_demo_car_params
|
||||
from openpilot.common.mock import mock_messages
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.car.card import convert_to_capnp
|
||||
from openpilot.system.hardware.tici.power_monitor import get_power
|
||||
from openpilot.system.manager.process_config import managed_processes
|
||||
from openpilot.system.manager.manager import manager_cleanup
|
||||
@@ -42,7 +43,7 @@ PROCS = [
|
||||
class TestPowerDraw:
|
||||
|
||||
def setup_method(self):
|
||||
Params().put("CarParams", get_demo_car_params()).to_bytes()
|
||||
Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes())
|
||||
|
||||
# wait a bit for power save to disable
|
||||
time.sleep(5)
|
||||
|
||||
Reference in New Issue
Block a user