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enforce message checks in can parser (#20742) 

* enforce message checks in can parser

* nissan

* vw

* hkg

* subaru

* toyota

* honda bosch

* gm

* honda nidec

* bump opendbc

* not all tss2 have bsm

* toyota fixes

* honda fixes

* vw fix

* fix subaru

* fix long tests

* update refs

* crv bsm
albatross
Adeeb Shihadeh 2021-04-25 12:52:16 -07:00 committed by GitHub
parent c9a29d6deb
commit 6c7ed8f2e4
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
19 changed files with 250 additions and 151 deletions
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2
cereal

@ -1 +1 @@
Subproject commit 8e5eb3ba4db9975e3370f3e4f5e60c0e7b73d078
Subproject commit 9532238f186a5022235decc22f3eaf91b636cedc

2
opendbc

@ -1 +1 @@
Subproject commit 774b4c98f6b2ae22f23703521e368918014d74b7
Subproject commit df29a0726ba95b185241c1e0b8b1c1e37fc96e76

2
selfdrive/car/ford/carstate.py
View File

@ -53,4 +53,4 @@ class CarState(CarStateBase):
("Brake_Lights", "BCM_to_HS_Body", 0.),
]
checks = []
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0, enforce_checks=False)

22
selfdrive/car/gm/carstate.py
View File

@ -104,9 +104,29 @@ class CarState(CarStateBase):
("CruiseMainOn", "ECMEngineStatus", 0),
]
checks = [
("BCMTurnSignals", 1),
("ECMPRDNL", 10),
("PSCMStatus", 10),
("ESPStatus", 10),
("BCMDoorBeltStatus", 10),
("EPBStatus", 20),
("EBCMWheelSpdFront", 20),
("EBCMWheelSpdRear", 20),
("AcceleratorPedal", 33),
("AcceleratorPedal2", 33),
("ASCMSteeringButton", 33),
("ECMEngineStatus", 100),
("PSCMSteeringAngle", 100),
("EBCMBrakePedalPosition", 100),
]
if CP.carFingerprint == CAR.VOLT:
signals += [
("RegenPaddle", "EBCMRegenPaddle", 0),
]
checks += [
("EBCMRegenPaddle", 50),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], CanBus.POWERTRAIN)
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CanBus.POWERTRAIN)

2
selfdrive/car/gm/radar_interface.py
View File

@ -34,7 +34,7 @@ def create_radar_can_parser(car_fingerprint):
[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
checks = []
checks = list({(s[1], 14) for s in signals})
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CanBus.OBSTACLE)

142
selfdrive/car/honda/carstate.py
View File

@ -22,41 +22,43 @@ def calc_cruise_offset(offset, speed):
def get_can_signals(CP):
# this function generates lists for signal, messages and initial values
signals = [
("XMISSION_SPEED", "ENGINE_DATA", 0),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
("STEER_ANGLE", "STEERING_SENSORS", 0),
("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
("MOTOR_TORQUE", "STEER_MOTOR_TORQUE", 0),
("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
("LEFT_BLINKER", "SCM_FEEDBACK", 0),
("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
("GEAR", "GEARBOX", 0),
("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
("BRAKE_SWITCH", "POWERTRAIN_DATA", 0),
("CRUISE_BUTTONS", "SCM_BUTTONS", 0),
("ESP_DISABLED", "VSA_STATUS", 1),
("USER_BRAKE", "VSA_STATUS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
("STEER_STATUS", "STEER_STATUS", 5),
("GEAR_SHIFTER", "GEARBOX", 0),
("PEDAL_GAS", "POWERTRAIN_DATA", 0),
("CRUISE_SETTING", "SCM_BUTTONS", 0),
("ACC_STATUS", "POWERTRAIN_DATA", 0),
("XMISSION_SPEED", "ENGINE_DATA", 0),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
("STEER_ANGLE", "STEERING_SENSORS", 0),
("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
("MOTOR_TORQUE", "STEER_MOTOR_TORQUE", 0),
("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
("LEFT_BLINKER", "SCM_FEEDBACK", 0),
("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
("GEAR", "GEARBOX", 0),
("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
("BRAKE_SWITCH", "POWERTRAIN_DATA", 0),
("CRUISE_BUTTONS", "SCM_BUTTONS", 0),
("ESP_DISABLED", "VSA_STATUS", 1),
("USER_BRAKE", "VSA_STATUS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
("STEER_STATUS", "STEER_STATUS", 5),
("GEAR_SHIFTER", "GEARBOX", 0),
("PEDAL_GAS", "POWERTRAIN_DATA", 0),
("CRUISE_SETTING", "SCM_BUTTONS", 0),
("ACC_STATUS", "POWERTRAIN_DATA", 0),
]
checks = [
("ENGINE_DATA", 100),
("WHEEL_SPEEDS", 50),
("STEERING_SENSORS", 100),
("SEATBELT_STATUS", 10),
("CRUISE", 10),
("POWERTRAIN_DATA", 100),
("VSA_STATUS", 50),
("ENGINE_DATA", 100),
("WHEEL_SPEEDS", 50),
("STEERING_SENSORS", 100),
("SEATBELT_STATUS", 10),
("CRUISE", 10),
("POWERTRAIN_DATA", 100),
("VSA_STATUS", 50),
("STEER_STATUS", 100),
("STEER_MOTOR_TORQUE", 0), # TODO: not on every car
]
if CP.carFingerprint == CAR.ODYSSEY_CHN:
@ -84,12 +86,19 @@ def get_can_signals(CP):
if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
checks += [("BRAKE_MODULE", 50)]
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_FEEDBACK", 0),
("CRUISE_CONTROL_LABEL", "ACC_HUD", 0),
("EPB_STATE", "EPB_STATUS", 0),
("CRUISE_SPEED", "ACC_HUD", 0)]
checks += [("GAS_PEDAL_2", 100)]
signals += [
("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_FEEDBACK", 0),
("CRUISE_CONTROL_LABEL", "ACC_HUD", 0),
("EPB_STATE", "EPB_STATUS", 0),
("CRUISE_SPEED", "ACC_HUD", 0)
]
checks += [
("ACC_HUD", 10),
("EPB_STATUS", 50),
("GAS_PEDAL_2", 100),
]
if CP.openpilotLongitudinalControl:
signals += [("BRAKE_ERROR_1", "STANDSTILL", 1),
("BRAKE_ERROR_2", "STANDSTILL", 1)]
@ -119,27 +128,43 @@ def get_can_signals(CP):
("DOOR_OPEN_RL", "DOORS_STATUS", 1),
("DOOR_OPEN_RR", "DOORS_STATUS", 1),
("WHEELS_MOVING", "STANDSTILL", 1)]
checks += [("DOORS_STATUS", 3)]
checks += [
("DOORS_STATUS", 3),
("STANDSTILL", 50),
]
if CP.carFingerprint == CAR.CIVIC:
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_FEEDBACK", 0),
("IMPERIAL_UNIT", "HUD_SETTING", 0),
("EPB_STATE", "EPB_STATUS", 0)]
checks += [
("HUD_SETTING", 50),
("EPB_STATUS", 50),
("GAS_PEDAL_2", 100),
]
elif CP.carFingerprint == CAR.ACURA_ILX:
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_BUTTONS", 0)]
checks += [
("GAS_PEDAL_2", 100),
]
elif CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
elif CP.carFingerprint == CAR.FIT:
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_BUTTONS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
checks += [
("GAS_PEDAL_2", 100),
]
elif CP.carFingerprint == CAR.HRV:
signals += [("CAR_GAS", "GAS_PEDAL", 0),
("MAIN_ON", "SCM_BUTTONS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
checks += [
("GAS_PEDAL", 100),
]
elif CP.carFingerprint == CAR.ODYSSEY:
signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
("EPB_STATE", "EPB_STATUS", 0)]
@ -147,6 +172,9 @@ def get_can_signals(CP):
elif CP.carFingerprint == CAR.PILOT:
signals += [("MAIN_ON", "SCM_BUTTONS", 0),
("CAR_GAS", "GAS_PEDAL_2", 0)]
checks += [
("GAS_PEDAL_2", 0), # TODO: fix this freq, seems this signal isn't present at all on some models
]
elif CP.carFingerprint == CAR.ODYSSEY_CHN:
signals += [("MAIN_ON", "SCM_BUTTONS", 0),
("EPB_STATE", "EPB_STATUS", 0)]
@ -325,7 +353,7 @@ class CarState(CarStateBase):
self.stock_hud = cp_cam.vl["ACC_HUD"]
self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
if self.CP.carFingerprint in (CAR.CRV_5G, ):
if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ):
# BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
# more info here: https://github.com/commaai/openpilot/pull/1867
ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]['BSM_ALERT'] == 1
@ -343,9 +371,17 @@ class CarState(CarStateBase):
def get_cam_can_parser(CP):
signals = []
# all hondas except CRV, RDX and 2019 Odyssey@China use 0xe4 for steering
checks = [(0xe4, 100)]
if CP.carFingerprint in [CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
checks = [(0x194, 100)]
if CP.carFingerprint in HONDA_BOSCH:
signals += [("ACCEL_COMMAND", "ACC_CONTROL", 0),
("AEB_STATUS", "ACC_CONTROL", 0)]
checks += [
("ACC_CONTROL", 0), # TODO: fix freq, this seems to be on the wrong bus
]
else:
signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND", 0),
("AEB_REQ_1", "BRAKE_COMMAND", 0),
@ -355,24 +391,24 @@ class CarState(CarStateBase):
("FCM_OFF_2", "ACC_HUD", 0),
("FCM_PROBLEM", "ACC_HUD", 0),
("ICONS", "ACC_HUD", 0)]
# all hondas except CRV, RDX and 2019 Odyssey@China use 0xe4 for steering
checks = [(0xe4, 100)]
if CP.carFingerprint in [CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
checks = [(0x194, 100)]
checks += [
("ACC_HUD", 10),
("BRAKE_COMMAND", 50),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
@staticmethod
def get_body_can_parser(CP):
signals = []
checks = []
if CP.carFingerprint == CAR.CRV_5G:
signals += [("BSM_ALERT", "BSM_STATUS_RIGHT", 0),
("BSM_ALERT", "BSM_STATUS_LEFT", 0)]
if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G:
signals = [("BSM_ALERT", "BSM_STATUS_RIGHT", 0),
("BSM_ALERT", "BSM_STATUS_LEFT", 0)]
# TODO: get freqs
checks = [
("BSM_STATUS_LEFT", 0),
("BSM_STATUS_RIGHT", 0),
]
bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
return CANParser(DBC[CP.carFingerprint]['body'], signals, checks, bus_body)
return None

3
selfdrive/car/honda/interface.py
View File

@ -135,6 +135,9 @@ class CarInterface(CarInterfaceBase):
ret.enableGasInterceptor = 0x201 in fingerprint[0]
ret.openpilotLongitudinalControl = ret.enableCamera
if candidate == CAR.CRV_5G:
ret.enableBsm = 0x12f8bfa7 in fingerprint[0]
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)

2
selfdrive/car/honda/radar_interface.py
View File

@ -11,7 +11,7 @@ def _create_nidec_can_parser(car_fingerprint):
['REL_SPEED'] * 16,
[0x400] + radar_messages[1:] * 4,
[0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16))
checks = list(zip([0x445], [20]))
checks = [(s[1], 20) for s in signals]
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)

3
selfdrive/car/hyundai/carstate.py
View File

@ -189,8 +189,6 @@ class CarState(CarStateBase):
("ESC_Off_Step", "TCS15", 0),
("AVH_LAMP", "TCS15", 0),
("CF_Lvr_GearInf", "LVR11", 0), # Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
("CR_Mdps_StrColTq", "MDPS12", 0),
("CF_Mdps_ToiActive", "MDPS12", 0),
("CF_Mdps_ToiUnavail", "MDPS12", 0),
@ -215,6 +213,7 @@ class CarState(CarStateBase):
("CLU11", 50),
("ESP12", 100),
("CGW1", 10),
("CGW2", 5),
("CGW4", 5),
("WHL_SPD11", 50),
("SAS11", 100),

17
selfdrive/car/nissan/carstate.py
View File

@ -146,10 +146,13 @@ class CarState(CarStateBase):
checks = [
# sig_address, frequency
("STEER_ANGLE_SENSOR", 100),
("WHEEL_SPEEDS_REAR", 50),
("WHEEL_SPEEDS_FRONT", 50),
("STEER_ANGLE_SENSOR", 100),
("ESP", 25),
("GEARBOX", 25),
("DOORS_LIGHTS", 10),
("LIGHTS", 10),
]
if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
@ -201,6 +204,9 @@ class CarState(CarStateBase):
checks += [
("BRAKE_PEDAL", 100),
("CRUISE_THROTTLE", 50),
("CANCEL_MSG", 50),
("HUD_SETTINGS", 25),
("SEATBELT", 10),
]
if CP.carFingerprint == CAR.ALTIMA:
@ -241,6 +247,7 @@ class CarState(CarStateBase):
("CRUISE_ON", "PRO_PILOT", 0),
]
checks = [
("LKAS", 100),
("PRO_PILOT", 100),
]
else:
@ -327,7 +334,11 @@ class CarState(CarStateBase):
]
checks = [
("PROPILOT_HUD_INFO_MSG", 2),
("LKAS_SETTINGS", 10),
("CRUISE_STATE", 50),
("PROPILOT_HUD", 50),
("LKAS", 100),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
@ -341,7 +352,9 @@ class CarState(CarStateBase):
signals += [
("CRUISE_ON", "PRO_PILOT", 0),
]
checks += [
("PRO_PILOT", 100),
]
elif CP.carFingerprint == CAR.ALTIMA:
signals += [
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),

22
selfdrive/car/subaru/carstate.py
View File

@ -37,8 +37,9 @@ class CarState(CarStateBase):
ret.leftBlinker, ret.rightBlinker = self.update_blinker(50, cp.vl["Dashlights"]['LEFT_BLINKER'],
cp.vl["Dashlights"]['RIGHT_BLINKER'])
ret.leftBlindspot = (cp.vl["BSD_RCTA"]['L_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['L_APPROACHING'] == 1)
ret.rightBlindspot = (cp.vl["BSD_RCTA"]['R_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['R_APPROACHING'] == 1)
if self.CP.enableBsm:
ret.leftBlindspot = (cp.vl["BSD_RCTA"]['L_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['L_APPROACHING'] == 1)
ret.rightBlindspot = (cp.vl["BSD_RCTA"]['R_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['R_APPROACHING'] == 1)
can_gear = int(cp.vl["Transmission"]['Gear'])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
@ -102,10 +103,6 @@ class CarState(CarStateBase):
("DOOR_OPEN_RL", "BodyInfo", 1),
("Units", "Dash_State", 1),
("Gear", "Transmission", 0),
("L_ADJACENT", "BSD_RCTA", 0),
("R_ADJACENT", "BSD_RCTA", 0),
("L_APPROACHING", "BSD_RCTA", 0),
("R_APPROACHING", "BSD_RCTA", 0),
]
checks = [
@ -116,8 +113,21 @@ class CarState(CarStateBase):
("Wheel_Speeds", 50),
("Transmission", 100),
("Steering_Torque", 50),
("Dash_State", 1),
("BodyInfo", 1),
]
if CP.enableBsm:
signals += [
("L_ADJACENT", "BSD_RCTA", 0),
("R_ADJACENT", "BSD_RCTA", 0),
("L_APPROACHING", "BSD_RCTA", 0),
("R_APPROACHING", "BSD_RCTA", 0),
]
checks += [
("BSD_RCTA", 17),
]
if CP.carFingerprint in PREGLOBAL_CARS:
signals += [
("LKA_Lockout", "Steering_Torque", 0),

1
selfdrive/car/subaru/interface.py
View File

@ -27,6 +27,7 @@ class CarInterface(CarInterfaceBase):
ret.dashcamOnly = candidate in PREGLOBAL_CARS
ret.enableCamera = True
ret.enableBsm = 0x228 in fingerprint[0]
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4

97
selfdrive/car/tests/test_car_interfaces.py
View File

@ -1,70 +1,69 @@
#!/usr/bin/env python3
import unittest
import importlib
from parameterized import parameterized
from cereal import car
from selfdrive.car.fingerprints import all_known_cars
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
from cereal import car
class TestCarInterfaces(unittest.TestCase):
def test_car_interfaces(self):
all_cars = all_known_cars()
for car_name in all_cars:
print(car_name)
fingerprint = FINGERPRINTS[car_name][0]
@parameterized.expand([(car,) for car in all_known_cars()])
def test_car_interfaces(self, car_name):
print(car_name)
fingerprint = FINGERPRINTS[car_name][0]
CarInterface, CarController, CarState = interfaces[car_name]
fingerprints = {
0: fingerprint,
1: fingerprint,
2: fingerprint,
}
CarInterface, CarController, CarState = interfaces[car_name]
fingerprints = {
0: fingerprint,
1: fingerprint,
2: fingerprint,
}
car_fw = []
car_fw = []
car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
car_interface = CarInterface(car_params, CarController, CarState)
assert car_params
assert car_interface
car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
car_interface = CarInterface(car_params, CarController, CarState)
assert car_params
assert car_interface
self.assertGreater(car_params.mass, 1)
self.assertGreater(car_params.steerRateCost, 1e-3)
self.assertGreater(car_params.mass, 1)
self.assertGreater(car_params.steerRateCost, 1e-3)
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
tuning = car_params.lateralTuning.which()
if tuning == 'pid':
self.assertTrue(len(car_params.lateralTuning.pid.kpV))
elif tuning == 'lqr':
self.assertTrue(len(car_params.lateralTuning.lqr.a))
elif tuning == 'indi':
self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
tuning = car_params.lateralTuning.which()
if tuning == 'pid':
self.assertTrue(len(car_params.lateralTuning.pid.kpV))
elif tuning == 'lqr':
self.assertTrue(len(car_params.lateralTuning.lqr.a))
elif tuning == 'indi':
self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))
# Run car interface
CC = car.CarControl.new_message()
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC)
car_interface.apply(CC)
# Run car interface
CC = car.CarControl.new_message()
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC)
car_interface.apply(CC)
CC = car.CarControl.new_message()
CC.enabled = True
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC)
car_interface.apply(CC)
CC = car.CarControl.new_message()
CC.enabled = True
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC)
car_interface.apply(CC)
# Test radar interface
RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % car_params.carName).RadarInterface
radar_interface = RadarInterface(car_params)
assert radar_interface
# Test radar interface
RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % car_params.carName).RadarInterface
radar_interface = RadarInterface(car_params)
assert radar_interface
# Run radar interface once
radar_interface.update([])
if not car_params.radarOffCan and hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
radar_interface._update([radar_interface.trigger_msg])
# Run radar interface once
radar_interface.update([])
if not car_params.radarOffCan and hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
radar_interface._update([radar_interface.trigger_msg])
if __name__ == "__main__":
unittest.main()

37
selfdrive/car/toyota/carstate.py
View File

@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from selfdrive.config import Conversions as CV
from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_STOP_TIMER_CAR
from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR
class CarState(CarStateBase):
@ -90,17 +90,14 @@ class CarState(CarStateBase):
ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]['CRUISE_STATE'] in [1, 2, 3, 4, 5, 6]
if self.CP.carFingerprint == CAR.PRIUS:
ret.genericToggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
else:
ret.genericToggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
ret.genericToggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
ret.espDisabled = cp.vl["ESP_CONTROL"]['TC_DISABLED'] != 0
# 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
if self.CP.carFingerprint in TSS2_CAR:
if self.CP.enableBsm:
ret.leftBlindspot = (cp.vl["BSM"]['L_ADJACENT'] == 1) or (cp.vl["BSM"]['L_APPROACHING'] == 1)
ret.rightBlindspot = (cp.vl["BSM"]['R_ADJACENT'] == 1) or (cp.vl["BSM"]['R_APPROACHING'] == 1)
@ -140,13 +137,18 @@ class CarState(CarStateBase):
]
checks = [
("GEAR_PACKET", 1),
("LIGHT_STALK", 1),
("STEERING_LEVERS", 0.15),
("SEATS_DOORS", 3),
("ESP_CONTROL", 3),
("EPS_STATUS", 25),
("BRAKE_MODULE", 40),
("GAS_PEDAL", 33),
("WHEEL_SPEEDS", 80),
("STEER_ANGLE_SENSOR", 80),
("PCM_CRUISE", 33),
("STEER_TORQUE_SENSOR", 50),
("EPS_STATUS", 25),
]
if CP.carFingerprint == CAR.LEXUS_IS:
@ -159,20 +161,22 @@ class CarState(CarStateBase):
signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
checks.append(("PCM_CRUISE_2", 33))
if CP.carFingerprint == CAR.PRIUS:
signals += [("STATE", "AUTOPARK_STATUS", 0)]
# add gas interceptor reading if we are using it
if CP.enableGasInterceptor:
signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
checks.append(("GAS_SENSOR", 50))
if CP.carFingerprint in TSS2_CAR:
signals += [("L_ADJACENT", "BSM", 0)]
signals += [("L_APPROACHING", "BSM", 0)]
signals += [("R_ADJACENT", "BSM", 0)]
signals += [("R_APPROACHING", "BSM", 0)]
if CP.enableBsm:
signals += [
("L_ADJACENT", "BSM", 0),
("L_APPROACHING", "BSM", 0),
("R_ADJACENT", "BSM", 0),
("R_APPROACHING", "BSM", 0),
]
checks += [
("BSM", 1)
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@ -186,7 +190,8 @@ class CarState(CarStateBase):
# use steering message to check if panda is connected to frc
checks = [
("STEERING_LKA", 42)
("STEERING_LKA", 42),
("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)

1
selfdrive/car/toyota/interface.py
View File

@ -321,6 +321,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = True
ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
smartDsu = 0x2FF in fingerprint[0]
# In TSS2 cars the camera does long control

21
selfdrive/car/volkswagen/carstate.py
View File

@ -80,8 +80,9 @@ class CarState(CarStateBase):
# detection box is dynamic based on speed and road curvature.
# Refer to VW Self Study Program 890253: Volkswagen Driver Assist Systems,
# pages 32-35.
ret.leftBlindspot = bool(pt_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(pt_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
ret.rightBlindspot = bool(pt_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(pt_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
if self.CP.enableBsm:
ret.leftBlindspot = bool(pt_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(pt_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
ret.rightBlindspot = bool(pt_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(pt_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
# Consume factory LDW data relevant for factory SWA (Lane Change Assist)
# and capture it for forwarding to the blind spot radar controller
@ -203,10 +204,6 @@ class CarState(CarStateBase):
("GRA_Tip_Stufe_2", "GRA_ACC_01", 0), # unknown related to stalk type
("GRA_ButtonTypeInfo", "GRA_ACC_01", 0), # unknown related to stalk type
("COUNTER", "GRA_ACC_01", 0), # GRA_ACC_01 CAN message counter
("SWA_Infostufe_SWA_li", "SWA_01", 0), # Blind spot object info, left
("SWA_Warnung_SWA_li", "SWA_01", 0), # Blind spot object warning, left
("SWA_Infostufe_SWA_re", "SWA_01", 0), # Blind spot object info, right
("SWA_Warnung_SWA_re", "SWA_01", 0), # Blind spot object warning, right
]
checks = [
@ -219,6 +216,7 @@ class CarState(CarStateBase):
("ACC_10", 50), # From J428 ACC radar control module
("Motor_20", 50), # From J623 Engine control module
("TSK_06", 50), # From J623 Engine control module
("ESP_02", 50),
("GRA_ACC_01", 33), # From J??? steering wheel control buttons
("ACC_02", 17), # From J428 ACC radar control module
("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
@ -229,6 +227,17 @@ class CarState(CarStateBase):
("Einheiten_01", 1), # From J??? not known if gateway, cluster, or BCM
]
if CP.enableBsm:
signals += [
("SWA_Infostufe_SWA_li", "SWA_01", 0), # Blind spot object info, left
("SWA_Warnung_SWA_li", "SWA_01", 0), # Blind spot object warning, left
("SWA_Infostufe_SWA_re", "SWA_01", 0), # Blind spot object info, right
("SWA_Warnung_SWA_re", "SWA_01", 0), # Blind spot object warning, right
]
checks += [
("SWA_01", 20),
]
if CP.transmissionType == TransmissionType.automatic:
signals += [("GE_Fahrstufe", "Getriebe_11", 0)] # Auto trans gear selector position
checks += [("Getriebe_11", 20)] # From J743 Auto transmission control module

3
selfdrive/car/volkswagen/interface.py
View File

@ -104,7 +104,8 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.45
ret.enableCamera = True # Stock camera detection doesn't apply to VW
ret.enableCamera = True
ret.enableBsm = 0x30F in fingerprint[0]
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase

20
selfdrive/test/longitudinal_maneuvers/plant.py
View File

@ -176,12 +176,9 @@ class Plant():
return float(self.rk.frame) / self.rate
def step(self, v_lead=0.0, cruise_buttons=None, grade=0.0, publish_model=True):
gen_signals, gen_checks = get_can_signals(CP)
gen_signals, _ = get_can_signals(CP)
sgs = [s[0] for s in gen_signals]
msgs = [s[1] for s in gen_signals]
cks_msgs = set(check[0] for check in gen_checks)
cks_msgs.add(0x18F)
cks_msgs.add(0x30C)
# ******** get messages sent to the car ********
can_strings = messaging.drain_sock_raw(Plant.sendcan, wait_for_one=self.response_seen)
@ -353,12 +350,17 @@ class Plant():
can_msgs.append([0x400, 0, radar_state_msg, 1])
can_msgs.append([0x445, 0, radar_msg, 1])
# add camera msg so controlsd thinks it's alive
radar_messages = list(range(0x430, 0x43A)) + list(range(0x440, 0x445))
for m in radar_messages:
can_msgs.append([m, 0, b'\x00'*8, 1])
msg_struct["COUNTER"] = self.frame % 4
msg = honda.lookup_msg_id(0xe4)
msg_data = honda.encode(msg, msg_struct)
msg_data = fix(msg_data, 0xe4)
can_msgs.append([0xe4, 0, msg_data, 2])
camera_messages = [0x1FA, 0x30C, 0xE4]
for m in camera_messages:
msg = honda.lookup_msg_id(m)
msg_data = honda.encode(msg, msg_struct)
msg_data = fix(msg_data, m)
can_msgs.append([m, 0, msg_data, 2])
# Fake sockets that controlsd subscribes to
live_parameters = messaging.new_message('liveParameters')

2
selfdrive/test/process_replay/ref_commit
View File

@ -1 +1 @@
381c4976c45f232f413b37945fbcd43391174089
8539d7c0d5186cd2d13e7f031ecb93e64b5ed8ae