209 lines
12 KiB
Python
209 lines
12 KiB
Python
import numpy as np
|
|
from cereal import car
|
|
from selfdrive.config import Conversions as CV
|
|
from selfdrive.car.interfaces import CarStateBase
|
|
from opendbc.can.parser import CANParser
|
|
from opendbc.can.can_define import CANDefine
|
|
from selfdrive.car.volkswagen.values import DBC, CANBUS, BUTTON_STATES, CarControllerParams
|
|
|
|
class CarState(CarStateBase):
|
|
def __init__(self, CP):
|
|
super().__init__(CP)
|
|
can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
|
|
self.shifter_values = can_define.dv["Getriebe_11"]['GE_Fahrstufe']
|
|
self.buttonStates = BUTTON_STATES.copy()
|
|
|
|
def update(self, pt_cp):
|
|
ret = car.CarState.new_message()
|
|
# Update vehicle speed and acceleration from ABS wheel speeds.
|
|
ret.wheelSpeeds.fl = pt_cp.vl["ESP_19"]['ESP_VL_Radgeschw_02'] * CV.KPH_TO_MS
|
|
ret.wheelSpeeds.fr = pt_cp.vl["ESP_19"]['ESP_VR_Radgeschw_02'] * CV.KPH_TO_MS
|
|
ret.wheelSpeeds.rl = pt_cp.vl["ESP_19"]['ESP_HL_Radgeschw_02'] * CV.KPH_TO_MS
|
|
ret.wheelSpeeds.rr = pt_cp.vl["ESP_19"]['ESP_HR_Radgeschw_02'] * CV.KPH_TO_MS
|
|
|
|
ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
|
|
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
|
|
|
ret.standstill = ret.vEgoRaw < 0.1
|
|
|
|
# Update steering angle, rate, yaw rate, and driver input torque. VW send
|
|
# the sign/direction in a separate signal so they must be recombined.
|
|
ret.steeringAngle = pt_cp.vl["LWI_01"]['LWI_Lenkradwinkel'] * (1, -1)[int(pt_cp.vl["LWI_01"]['LWI_VZ_Lenkradwinkel'])]
|
|
ret.steeringRate = pt_cp.vl["LWI_01"]['LWI_Lenkradw_Geschw'] * (1, -1)[int(pt_cp.vl["LWI_01"]['LWI_VZ_Lenkradwinkel'])]
|
|
ret.steeringTorque = pt_cp.vl["EPS_01"]['Driver_Strain'] * (1, -1)[int(pt_cp.vl["EPS_01"]['Driver_Strain_VZ'])]
|
|
ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
|
|
ret.yawRate = pt_cp.vl["ESP_02"]['ESP_Gierrate'] * (1, -1)[int(pt_cp.vl["ESP_02"]['ESP_VZ_Gierrate'])] * CV.DEG_TO_RAD
|
|
|
|
# Update gas, brakes, and gearshift.
|
|
ret.gas = pt_cp.vl["Motor_20"]['MO_Fahrpedalrohwert_01'] / 100.0
|
|
ret.gasPressed = ret.gas > 0
|
|
ret.brake = pt_cp.vl["ESP_05"]['ESP_Bremsdruck'] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
|
|
ret.brakePressed = bool(pt_cp.vl["ESP_05"]['ESP_Fahrer_bremst'])
|
|
ret.brakeLights = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck'])
|
|
|
|
# Update gear and/or clutch position data.
|
|
can_gear_shifter = int(pt_cp.vl["Getriebe_11"]['GE_Fahrstufe'])
|
|
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear_shifter, None))
|
|
|
|
# Update door and trunk/hatch lid open status.
|
|
ret.doorOpen = any([pt_cp.vl["Gateway_72"]['ZV_FT_offen'],
|
|
pt_cp.vl["Gateway_72"]['ZV_BT_offen'],
|
|
pt_cp.vl["Gateway_72"]['ZV_HFS_offen'],
|
|
pt_cp.vl["Gateway_72"]['ZV_HBFS_offen'],
|
|
pt_cp.vl["Gateway_72"]['ZV_HD_offen']])
|
|
|
|
# Update seatbelt fastened status.
|
|
ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3
|
|
|
|
# Update driver preference for metric. VW stores many different unit
|
|
# preferences, including separate units for for distance vs. speed.
|
|
# We use the speed preference for OP.
|
|
self.displayMetricUnits = not pt_cp.vl["Einheiten_01"]["KBI_MFA_v_Einheit_02"]
|
|
|
|
# Update ACC radar status.
|
|
accStatus = pt_cp.vl["TSK_06"]['TSK_Status']
|
|
if accStatus == 2:
|
|
# ACC okay and enabled, but not currently engaged
|
|
ret.cruiseState.available = True
|
|
ret.cruiseState.enabled = False
|
|
elif accStatus in [3, 4, 5]:
|
|
# ACC okay and enabled, currently engaged and regulating speed (3) or engaged with driver accelerating (4) or overrun (5)
|
|
ret.cruiseState.available = True
|
|
ret.cruiseState.enabled = True
|
|
else:
|
|
# ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
|
|
ret.cruiseState.available = False
|
|
ret.cruiseState.enabled = False
|
|
|
|
# Update ACC setpoint. When the setpoint is zero or there's an error, the
|
|
# radar sends a set-speed of ~90.69 m/s / 203mph.
|
|
ret.cruiseState.speed = pt_cp.vl["ACC_02"]['SetSpeed']
|
|
if ret.cruiseState.speed > 90:
|
|
ret.cruiseState.speed = 0
|
|
|
|
# Update control button states for turn signals and ACC controls.
|
|
self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]['GRA_Tip_Hoch'])
|
|
self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]['GRA_Tip_Runter'])
|
|
self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_ACC_01"]['GRA_Abbrechen'])
|
|
self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_ACC_01"]['GRA_Tip_Setzen'])
|
|
self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_ACC_01"]['GRA_Tip_Wiederaufnahme'])
|
|
self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_ACC_01"]['GRA_Verstellung_Zeitluecke'])
|
|
ret.leftBlinker = bool(pt_cp.vl["Gateway_72"]['BH_Blinker_li'])
|
|
ret.rightBlinker = bool(pt_cp.vl["Gateway_72"]['BH_Blinker_re'])
|
|
|
|
# Read ACC hardware button type configuration info that has to pass thru
|
|
# to the radar. Ends up being different for steering wheel buttons vs
|
|
# third stalk type controls.
|
|
self.graHauptschalter = pt_cp.vl["GRA_ACC_01"]['GRA_Hauptschalter']
|
|
self.graTypHauptschalter = pt_cp.vl["GRA_ACC_01"]['GRA_Typ_Hauptschalter']
|
|
self.graButtonTypeInfo = pt_cp.vl["GRA_ACC_01"]['GRA_ButtonTypeInfo']
|
|
self.graTipStufe2 = pt_cp.vl["GRA_ACC_01"]['GRA_Tip_Stufe_2']
|
|
# Pick up the GRA_ACC_01 CAN message counter so we can sync to it for
|
|
# later cruise-control button spamming.
|
|
self.graMsgBusCounter = pt_cp.vl["GRA_ACC_01"]['COUNTER']
|
|
|
|
# Check to make sure the electric power steering rack is configured to
|
|
# accept and respond to HCA_01 messages and has not encountered a fault.
|
|
self.steeringFault = not pt_cp.vl["EPS_01"]["HCA_Ready"]
|
|
|
|
# Additional safety checks performed in CarInterface.
|
|
self.parkingBrakeSet = bool(pt_cp.vl["Kombi_01"]['KBI_Handbremse']) # FIXME: need to include an EPB check as well
|
|
ret.espDisabled = pt_cp.vl["ESP_21"]['ESP_Tastung_passiv'] != 0
|
|
|
|
return ret
|
|
|
|
@staticmethod
|
|
def get_can_parser(CP):
|
|
# this function generates lists for signal, messages and initial values
|
|
signals = [
|
|
# sig_name, sig_address, default
|
|
("LWI_Lenkradwinkel", "LWI_01", 0), # Absolute steering angle
|
|
("LWI_VZ_Lenkradwinkel", "LWI_01", 0), # Steering angle sign
|
|
("LWI_Lenkradw_Geschw", "LWI_01", 0), # Absolute steering rate
|
|
("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0), # Steering rate sign
|
|
("ESP_VL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front left
|
|
("ESP_VR_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front right
|
|
("ESP_HL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear left
|
|
("ESP_HR_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear right
|
|
("ESP_Gierrate", "ESP_02", 0), # Absolute yaw rate
|
|
("ESP_VZ_Gierrate", "ESP_02", 0), # Yaw rate sign
|
|
("ZV_FT_offen", "Gateway_72", 0), # Door open, driver
|
|
("ZV_BT_offen", "Gateway_72", 0), # Door open, passenger
|
|
("ZV_HFS_offen", "Gateway_72", 0), # Door open, rear left
|
|
("ZV_HBFS_offen", "Gateway_72", 0), # Door open, rear right
|
|
("ZV_HD_offen", "Gateway_72", 0), # Trunk or hatch open
|
|
("BH_Blinker_li", "Gateway_72", 0), # Left turn signal on
|
|
("BH_Blinker_re", "Gateway_72", 0), # Right turn signal on
|
|
("GE_Fahrstufe", "Getriebe_11", 0), # Auto trans gear selector position
|
|
("AB_Gurtschloss_FA", "Airbag_02", 0), # Seatbelt status, driver
|
|
("AB_Gurtschloss_BF", "Airbag_02", 0), # Seatbelt status, passenger
|
|
("ESP_Fahrer_bremst", "ESP_05", 0), # Brake pedal pressed
|
|
("ESP_Status_Bremsdruck", "ESP_05", 0), # Brakes applied
|
|
("ESP_Bremsdruck", "ESP_05", 0), # Brake pressure applied
|
|
("MO_Fahrpedalrohwert_01", "Motor_20", 0), # Accelerator pedal value
|
|
("MO_Kuppl_schalter", "Motor_14", 0), # Clutch switch
|
|
("Driver_Strain", "EPS_01", 0), # Absolute driver torque input
|
|
("Driver_Strain_VZ", "EPS_01", 0), # Driver torque input sign
|
|
("HCA_Ready", "EPS_01", 0), # Steering rack HCA support configured
|
|
("ESP_Tastung_passiv", "ESP_21", 0), # Stability control disabled
|
|
("KBI_MFA_v_Einheit_02", "Einheiten_01", 0), # MPH vs KMH speed display
|
|
("KBI_Handbremse", "Kombi_01", 0), # Manual handbrake applied
|
|
("TSK_Status", "TSK_06", 0), # ACC engagement status from drivetrain coordinator
|
|
("TSK_Fahrzeugmasse_02", "Motor_16", 0), # Estimated vehicle mass from drivetrain coordinator
|
|
("ACC_Status_ACC", "ACC_06", 0), # ACC engagement status
|
|
("ACC_Typ", "ACC_06", 0), # ACC type (follow to stop, stop&go)
|
|
("SetSpeed", "ACC_02", 0), # ACC set speed
|
|
("GRA_Hauptschalter", "GRA_ACC_01", 0), # ACC button, on/off
|
|
("GRA_Abbrechen", "GRA_ACC_01", 0), # ACC button, cancel
|
|
("GRA_Tip_Setzen", "GRA_ACC_01", 0), # ACC button, set
|
|
("GRA_Tip_Hoch", "GRA_ACC_01", 0), # ACC button, increase or accel
|
|
("GRA_Tip_Runter", "GRA_ACC_01", 0), # ACC button, decrease or decel
|
|
("GRA_Tip_Wiederaufnahme", "GRA_ACC_01", 0), # ACC button, resume
|
|
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01", 0), # ACC button, time gap adj
|
|
("GRA_Typ_Hauptschalter", "GRA_ACC_01", 0), # ACC main button type
|
|
("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
|
|
]
|
|
|
|
checks = [
|
|
# sig_address, frequency
|
|
("LWI_01", 100), # From J500 Steering Assist with integrated sensors
|
|
("EPS_01", 100), # From J500 Steering Assist with integrated sensors
|
|
("ESP_19", 100), # From J104 ABS/ESP controller
|
|
("ESP_05", 50), # From J104 ABS/ESP controller
|
|
("ESP_21", 50), # From J104 ABS/ESP controller
|
|
("ACC_06", 50), # From J428 ACC radar control module
|
|
("Motor_20", 50), # From J623 Engine control module
|
|
("TSK_06", 50), # From J623 Engine control module
|
|
("GRA_ACC_01", 33), # From J??? steering wheel control buttons
|
|
("ACC_02", 17), # From J428 ACC radar control module
|
|
("Getriebe_11", 20), # From J743 Auto transmission control module
|
|
("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
|
|
("Motor_14", 10), # From J623 Engine control module
|
|
("Airbag_02", 5), # From J234 Airbag control module
|
|
("Kombi_01", 2), # From J285 Instrument cluster
|
|
("Motor_16", 2), # From J623 Engine control module
|
|
("Einheiten_01", 1), # From J??? not known if gateway, cluster, or BCM
|
|
]
|
|
|
|
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.pt)
|
|
|
|
# A single signal is monitored from the camera CAN bus, and then ignored,
|
|
# so the presence of CAN traffic can be verified with cam_cp.valid.
|
|
|
|
@staticmethod
|
|
def get_cam_can_parser(CP):
|
|
|
|
signals = [
|
|
# sig_name, sig_address, default
|
|
("Kombi_Lamp_Green", "LDW_02", 0), # Lane Assist status LED
|
|
]
|
|
|
|
checks = [
|
|
# sig_address, frequency
|
|
("LDW_02", 10) # From R242 Driver assistance camera
|
|
]
|
|
|
|
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.cam)
|