283 lines
16 KiB
Python
283 lines
16 KiB
Python
import numpy as np
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from cereal import car
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from common.conversions import Conversions as CV
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from selfdrive.car.interfaces import CarStateBase
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from opendbc.can.parser import CANParser
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from opendbc.can.can_define import CANDefine
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from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, BUTTON_STATES, CarControllerParams
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class CarState(CarStateBase):
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def __init__(self, CP):
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super().__init__(CP)
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can_define = CANDefine(DBC_FILES.mqb)
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if CP.transmissionType == TransmissionType.automatic:
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self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
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elif CP.transmissionType == TransmissionType.direct:
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self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
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self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
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self.buttonStates = BUTTON_STATES.copy()
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def update(self, pt_cp, cam_cp, ext_cp, trans_type):
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ret = car.CarState.new_message()
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# Update vehicle speed and acceleration from ABS wheel speeds.
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ret.wheelSpeeds = self.get_wheel_speeds(
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pt_cp.vl["ESP_19"]["ESP_VL_Radgeschw_02"],
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pt_cp.vl["ESP_19"]["ESP_VR_Radgeschw_02"],
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pt_cp.vl["ESP_19"]["ESP_HL_Radgeschw_02"],
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pt_cp.vl["ESP_19"]["ESP_HR_Radgeschw_02"],
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)
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ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = ret.vEgo < 0.1
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# Update steering angle, rate, yaw rate, and driver input torque. VW send
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# the sign/direction in a separate signal so they must be recombined.
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ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
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ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
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ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
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ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
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ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD
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# Verify EPS readiness to accept steering commands
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hca_status = self.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
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ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT")
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ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED")
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# Update gas, brakes, and gearshift.
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ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
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ret.gasPressed = ret.gas > 0
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ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
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ret.brakePressed = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
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ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"]) # FIXME: need to include an EPB check as well
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self.esp_hold_confirmation = pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"]
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# Update gear and/or clutch position data.
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if trans_type == TransmissionType.automatic:
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
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elif trans_type == TransmissionType.direct:
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None))
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elif trans_type == TransmissionType.manual:
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ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"]
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if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]):
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ret.gearShifter = GearShifter.reverse
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else:
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ret.gearShifter = GearShifter.drive
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# Update door and trunk/hatch lid open status.
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ret.doorOpen = any([pt_cp.vl["Gateway_72"]["ZV_FT_offen"],
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pt_cp.vl["Gateway_72"]["ZV_BT_offen"],
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pt_cp.vl["Gateway_72"]["ZV_HFS_offen"],
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pt_cp.vl["Gateway_72"]["ZV_HBFS_offen"],
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pt_cp.vl["Gateway_72"]["ZV_HD_offen"]])
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# Update seatbelt fastened status.
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ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3
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# Update driver preference for metric. VW stores many different unit
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# preferences, including separate units for for distance vs. speed.
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# We use the speed preference for OP.
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self.displayMetricUnits = not pt_cp.vl["Einheiten_01"]["KBI_MFA_v_Einheit_02"]
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# Consume blind-spot monitoring info/warning LED states, if available.
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# Infostufe: BSM LED on, Warnung: BSM LED flashing
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if self.CP.enableBsm:
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ret.leftBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
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ret.rightBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
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# Consume factory LDW data relevant for factory SWA (Lane Change Assist)
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# and capture it for forwarding to the blind spot radar controller
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self.ldw_stock_values = cam_cp.vl["LDW_02"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
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# Stock FCW is considered active if the release bit for brake-jerk warning
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# is set. Stock AEB considered active if the partial braking or target
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# braking release bits are set.
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# Refer to VW Self Study Program 890253: Volkswagen Driver Assistance
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# Systems, chapter on Front Assist with Braking: Golf Family for all MQB
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ret.stockFcw = bool(ext_cp.vl["ACC_10"]["AWV2_Freigabe"])
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ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
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# Update ACC radar status.
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self.tsk_status = pt_cp.vl["TSK_06"]["TSK_Status"]
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if self.tsk_status == 2:
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# ACC okay and enabled, but not currently engaged
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ret.cruiseState.available = True
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ret.cruiseState.enabled = False
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elif self.tsk_status in (3, 4, 5):
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# ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or overrun coast-down (5)
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ret.cruiseState.available = True
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ret.cruiseState.enabled = True
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else:
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# ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
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ret.cruiseState.available = False
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ret.cruiseState.enabled = False
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# Update ACC setpoint. When the setpoint is zero or there's an error, the
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# radar sends a set-speed of ~90.69 m/s / 203mph.
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if self.CP.pcmCruise:
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ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw"] * CV.KPH_TO_MS
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if ret.cruiseState.speed > 90:
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ret.cruiseState.speed = 0
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# Update control button states for turn signals and ACC controls.
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self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Hoch"])
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self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Runter"])
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self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Abbrechen"])
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self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Setzen"])
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self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Wiederaufnahme"])
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self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"])
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ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
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ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
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# Read ACC hardware button type configuration info that has to pass thru
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# to the radar. Ends up being different for steering wheel buttons vs
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# third stalk type controls.
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self.graHauptschalter = pt_cp.vl["GRA_ACC_01"]["GRA_Hauptschalter"]
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self.graTypHauptschalter = pt_cp.vl["GRA_ACC_01"]["GRA_Typ_Hauptschalter"]
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self.graButtonTypeInfo = pt_cp.vl["GRA_ACC_01"]["GRA_ButtonTypeInfo"]
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self.graTipStufe2 = pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Stufe_2"]
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# Pick up the GRA_ACC_01 CAN message counter so we can sync to it for
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# later cruise-control button spamming.
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self.graMsgBusCounter = pt_cp.vl["GRA_ACC_01"]["COUNTER"]
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# Additional safety checks performed in CarInterface.
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ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
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return ret
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@staticmethod
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def get_can_parser(CP):
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signals = [
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# sig_name, sig_address
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("LWI_Lenkradwinkel", "LWI_01"), # Absolute steering angle
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("LWI_VZ_Lenkradwinkel", "LWI_01"), # Steering angle sign
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("LWI_Lenkradw_Geschw", "LWI_01"), # Absolute steering rate
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("LWI_VZ_Lenkradw_Geschw", "LWI_01"), # Steering rate sign
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("ESP_VL_Radgeschw_02", "ESP_19"), # ABS wheel speed, front left
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("ESP_VR_Radgeschw_02", "ESP_19"), # ABS wheel speed, front right
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("ESP_HL_Radgeschw_02", "ESP_19"), # ABS wheel speed, rear left
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("ESP_HR_Radgeschw_02", "ESP_19"), # ABS wheel speed, rear right
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("ESP_Gierrate", "ESP_02"), # Absolute yaw rate
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("ESP_VZ_Gierrate", "ESP_02"), # Yaw rate sign
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("ZV_FT_offen", "Gateway_72"), # Door open, driver
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("ZV_BT_offen", "Gateway_72"), # Door open, passenger
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("ZV_HFS_offen", "Gateway_72"), # Door open, rear left
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("ZV_HBFS_offen", "Gateway_72"), # Door open, rear right
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("ZV_HD_offen", "Gateway_72"), # Trunk or hatch open
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("Comfort_Signal_Left", "Blinkmodi_02"), # Left turn signal including comfort blink interval
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("Comfort_Signal_Right", "Blinkmodi_02"), # Right turn signal including comfort blink interval
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("AB_Gurtschloss_FA", "Airbag_02"), # Seatbelt status, driver
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("AB_Gurtschloss_BF", "Airbag_02"), # Seatbelt status, passenger
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("ESP_Fahrer_bremst", "ESP_05"), # Brake pedal pressed
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("ESP_Bremsdruck", "ESP_05"), # Brake pressure applied
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("MO_Fahrpedalrohwert_01", "Motor_20"), # Accelerator pedal value
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("EPS_Lenkmoment", "LH_EPS_03"), # Absolute driver torque input
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("EPS_VZ_Lenkmoment", "LH_EPS_03"), # Driver torque input sign
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("EPS_HCA_Status", "LH_EPS_03"), # EPS HCA control status
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("ESP_Tastung_passiv", "ESP_21"), # Stability control disabled
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("ESP_Haltebestaetigung", "ESP_21"), # ESP hold confirmation
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("KBI_MFA_v_Einheit_02", "Einheiten_01"), # MPH vs KMH speed display
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("KBI_Handbremse", "Kombi_01"), # Manual handbrake applied
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("TSK_Status", "TSK_06"), # ACC engagement status from drivetrain coordinator
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("GRA_Hauptschalter", "GRA_ACC_01"), # ACC button, on/off
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("GRA_Abbrechen", "GRA_ACC_01"), # ACC button, cancel
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("GRA_Tip_Setzen", "GRA_ACC_01"), # ACC button, set
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("GRA_Tip_Hoch", "GRA_ACC_01"), # ACC button, increase or accel
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("GRA_Tip_Runter", "GRA_ACC_01"), # ACC button, decrease or decel
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("GRA_Tip_Wiederaufnahme", "GRA_ACC_01"), # ACC button, resume
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("GRA_Verstellung_Zeitluecke", "GRA_ACC_01"), # ACC button, time gap adj
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("GRA_Typ_Hauptschalter", "GRA_ACC_01"), # ACC main button type
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("GRA_Tip_Stufe_2", "GRA_ACC_01"), # unknown related to stalk type
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("GRA_ButtonTypeInfo", "GRA_ACC_01"), # unknown related to stalk type
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("COUNTER", "GRA_ACC_01"), # GRA_ACC_01 CAN message counter
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]
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checks = [
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# sig_address, frequency
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("LWI_01", 100), # From J500 Steering Assist with integrated sensors
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("LH_EPS_03", 100), # From J500 Steering Assist with integrated sensors
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("ESP_19", 100), # From J104 ABS/ESP controller
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("ESP_05", 50), # From J104 ABS/ESP controller
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("ESP_21", 50), # From J104 ABS/ESP controller
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("Motor_20", 50), # From J623 Engine control module
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("TSK_06", 50), # From J623 Engine control module
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("ESP_02", 50), # From J104 ABS/ESP controller
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("GRA_ACC_01", 33), # From J533 CAN gateway (via LIN from steering wheel controls)
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("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
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("Airbag_02", 5), # From J234 Airbag control module
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("Kombi_01", 2), # From J285 Instrument cluster
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("Blinkmodi_02", 1), # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
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("Einheiten_01", 1), # From J??? not known if gateway, cluster, or BCM
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]
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if CP.transmissionType == TransmissionType.automatic:
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signals.append(("GE_Fahrstufe", "Getriebe_11")) # Auto trans gear selector position
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checks.append(("Getriebe_11", 20)) # From J743 Auto transmission control module
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elif CP.transmissionType == TransmissionType.direct:
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signals.append(("GearPosition", "EV_Gearshift")) # EV gear selector position
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checks.append(("EV_Gearshift", 10)) # From J??? unknown EV control module
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elif CP.transmissionType == TransmissionType.manual:
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signals += [("MO_Kuppl_schalter", "Motor_14"), # Clutch switch
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("BCM1_Rueckfahrlicht_Schalter", "Gateway_72")] # Reverse light from BCM
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checks.append(("Motor_14", 10)) # From J623 Engine control module
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if CP.networkLocation == NetworkLocation.fwdCamera:
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# Radars are here on CANBUS.pt
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signals += MqbExtraSignals.fwd_radar_signals
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checks += MqbExtraSignals.fwd_radar_checks
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if CP.enableBsm:
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signals += MqbExtraSignals.bsm_radar_signals
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checks += MqbExtraSignals.bsm_radar_checks
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return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.pt)
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@staticmethod
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def get_cam_can_parser(CP):
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signals = []
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checks = []
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if CP.networkLocation == NetworkLocation.fwdCamera:
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signals += [
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# sig_name, sig_address
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("LDW_SW_Warnung_links", "LDW_02"), # Blind spot in warning mode on left side due to lane departure
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("LDW_SW_Warnung_rechts", "LDW_02"), # Blind spot in warning mode on right side due to lane departure
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("LDW_Seite_DLCTLC", "LDW_02"), # Direction of most likely lane departure (left or right)
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("LDW_DLC", "LDW_02"), # Lane departure, distance to line crossing
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("LDW_TLC", "LDW_02"), # Lane departure, time to line crossing
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]
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checks += [
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# sig_address, frequency
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("LDW_02", 10) # From R242 Driver assistance camera
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]
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else:
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# Radars are here on CANBUS.cam
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signals += MqbExtraSignals.fwd_radar_signals
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checks += MqbExtraSignals.fwd_radar_checks
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if CP.enableBsm:
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signals += MqbExtraSignals.bsm_radar_signals
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checks += MqbExtraSignals.bsm_radar_checks
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return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.cam)
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class MqbExtraSignals:
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# Additional signal and message lists for optional or bus-portable controllers
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fwd_radar_signals = [
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("ACC_Wunschgeschw", "ACC_02"), # ACC set speed
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("AWV2_Freigabe", "ACC_10"), # FCW brake jerk release
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("ANB_Teilbremsung_Freigabe", "ACC_10"), # AEB partial braking release
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("ANB_Zielbremsung_Freigabe", "ACC_10"), # AEB target braking release
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]
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fwd_radar_checks = [
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("ACC_10", 50), # From J428 ACC radar control module
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("ACC_02", 17), # From J428 ACC radar control module
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]
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bsm_radar_signals = [
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("SWA_Infostufe_SWA_li", "SWA_01"), # Blind spot object info, left
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("SWA_Warnung_SWA_li", "SWA_01"), # Blind spot object warning, left
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("SWA_Infostufe_SWA_re", "SWA_01"), # Blind spot object info, right
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("SWA_Warnung_SWA_re", "SWA_01"), # Blind spot object warning, right
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]
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bsm_radar_checks = [
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("SWA_01", 20), # From J1086 Lane Change Assist
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]
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