134 lines
5.6 KiB
Python
134 lines
5.6 KiB
Python
from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
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from common.params import put_nonblocking
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
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from selfdrive.car.interfaces import CarInterfaceBase
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GEAR = car.CarState.GearShifter
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EventName = car.CarEvent.EventName
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController, CarState):
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super().__init__(CP, CarController, CarState)
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self.displayMetricUnitsPrev = None
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self.buttonStatesPrev = BUTTON_STATES.copy()
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@staticmethod
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def compute_gb(accel, speed):
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return float(accel) / 4.0
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
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# VW port is a community feature, since we don't own one to test
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ret.communityFeature = True
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if candidate == CAR.GOLF:
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# Set common MQB parameters that will apply globally
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ret.carName = "volkswagen"
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ret.radarOffCan = True
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ret.safetyModel = car.CarParams.SafetyModel.volkswagen
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# Additional common MQB parameters that may be overridden per-vehicle
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ret.steerRateCost = 0.5
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ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here
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ret.steerLimitTimer = 0.4
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# As a starting point for speed-adjusted lateral tuning, use the example
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# map speed breakpoints from a VW Tiguan (SSP 399 page 9). It's unclear
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# whether the driver assist map breakpoints have any direct bearing on
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# HCA assist torque, but if they're good breakpoints for the driver,
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# they're probably good breakpoints for HCA as well. OP won't be driving
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# 250kph/155mph but it provides interpolation scaling above 100kmh/62mph.
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ret.lateralTuning.pid.kpBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS]
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ret.lateralTuning.pid.kiBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS]
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# FIXME: Per-vehicle parameters need to be reintegrated.
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# For the time being, per-vehicle stuff is being archived since we
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# can't auto-detect very well yet. Now that tuning is figured out,
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# averaged params should work reasonably on a range of cars. Owners
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# can tweak here, as needed, until we have car type auto-detection.
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ret.mass = 1700 + STD_CARGO_KG
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ret.wheelbase = 2.75
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ret.centerToFront = ret.wheelbase * 0.45
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ret.steerRatio = 15.6
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ret.lateralTuning.pid.kf = 0.00006
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ret.lateralTuning.pid.kpV = [0.15, 0.25, 0.60]
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ret.lateralTuning.pid.kiV = [0.05, 0.05, 0.05]
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tire_stiffness_factor = 0.6
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ret.enableCamera = True # Stock camera detection doesn't apply to VW
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ret.transmissionType = car.CarParams.TransmissionType.automatic
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
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tire_stiffness_factor=tire_stiffness_factor)
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return ret
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# returns a car.CarState
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def update(self, c, can_strings):
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canMonoTimes = []
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buttonEvents = []
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# Process the most recent CAN message traffic, and check for validity
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# The camera CAN has no signals we use at this time, but we process it
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# anyway so we can test connectivity with can_valid
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self.cp.update_strings(can_strings)
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self.cp_cam.update_strings(can_strings)
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ret = self.CS.update(self.cp)
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ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
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ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
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# Update the EON metric configuration to match the car at first startup,
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# or if there's been a change.
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if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
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put_nonblocking("IsMetric", "1" if self.CS.displayMetricUnits else "0")
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# Check for and process state-change events (button press or release) from
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# the turn stalk switch or ACC steering wheel/control stalk buttons.
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for button in self.CS.buttonStates:
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if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
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be = car.CarState.ButtonEvent.new_message()
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be.type = button
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be.pressed = self.CS.buttonStates[button]
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buttonEvents.append(be)
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events = self.create_common_events(ret, extra_gears=[GEAR.eco, GEAR.sport])
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# Vehicle health and operation safety checks
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if self.CS.parkingBrakeSet:
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events.add(EventName.parkBrake)
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if self.CS.steeringFault:
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events.add(EventName.steerTempUnavailable)
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ret.events = events.to_msg()
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ret.buttonEvents = buttonEvents
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ret.canMonoTimes = canMonoTimes
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# update previous car states
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self.displayMetricUnitsPrev = self.CS.displayMetricUnits
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self.buttonStatesPrev = self.CS.buttonStates.copy()
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self.CS.out = ret.as_reader()
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return self.CS.out
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def apply(self, c):
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can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
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c.hudControl.visualAlert,
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c.hudControl.audibleAlert,
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c.hudControl.leftLaneVisible,
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c.hudControl.rightLaneVisible)
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self.frame += 1
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return can_sends
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