From 8149f7cb119045028ba57f877e1d16d58c2ae712 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 3 Oct 2024 16:40:24 -0700 Subject: [PATCH] move car.capnp to opendbc (#33722) * move car.capnp to opendbc * bump * do card * fix some more tests * rm helpers * format fp * more * whoops * bump * bump to master --- cereal/car.capnp | 723 +----------------- opendbc_repo | 2 +- selfdrive/car/card.py | 24 +- selfdrive/car/helpers.py | 74 -- selfdrive/car/tests/test_car_interfaces.py | 15 +- selfdrive/car/tests/test_models.py | 17 +- .../controls/lib/tests/test_latcontrol.py | 2 - .../controls/lib/tests/test_vehicle_model.py | 3 +- selfdrive/debug/format_fingerprints.py | 11 +- selfdrive/modeld/modeld.py | 3 +- selfdrive/modeld/tests/test_modeld.py | 3 +- .../test/process_replay/process_replay.py | 4 +- selfdrive/test/process_replay/ref_commit | 2 +- system/hardware/tici/tests/test_power_draw.py | 3 +- 14 files changed, 41 insertions(+), 845 deletions(-) mode change 100644 => 120000 cereal/car.capnp delete mode 100644 selfdrive/car/helpers.py diff --git a/cereal/car.capnp b/cereal/car.capnp deleted file mode 100644 index c8474f431bac34..00000000000000 --- a/cereal/car.capnp +++ /dev/null @@ -1,722 +0,0 @@ -using Cxx = import "./include/c++.capnp"; -$Cxx.namespace("cereal"); - -@0x8e2af1e708af8b8d; - -# ******* events causing controls state machine transition ******* - -# IMPORTANT: This struct is to not be modified so old logs can be parsed -struct OnroadEventDEPRECATED @0x9b1657f34caf3ad3 { - name @0 :EventName; - - # event types - enable @1 :Bool; - noEntry @2 :Bool; - warning @3 :Bool; # alerts presented only when enabled or soft disabling - userDisable @4 :Bool; - softDisable @5 :Bool; - immediateDisable @6 :Bool; - preEnable @7 :Bool; - permanent @8 :Bool; # alerts presented regardless of openpilot state - overrideLateral @10 :Bool; - overrideLongitudinal @9 :Bool; - - enum EventName @0xbaa8c5d505f727de { - canError @0; - steerUnavailable @1; - wrongGear @4; - doorOpen @5; - seatbeltNotLatched @6; - espDisabled @7; - wrongCarMode @8; - steerTempUnavailable @9; - reverseGear @10; - buttonCancel @11; - buttonEnable @12; - pedalPressed @13; # exits active state - preEnableStandstill @73; # added during pre-enable state with brake - gasPressedOverride @108; # added when user is pressing gas with no disengage on gas - steerOverride @114; - cruiseDisabled @14; - speedTooLow @17; - outOfSpace @18; - overheat @19; - calibrationIncomplete @20; - calibrationInvalid @21; - calibrationRecalibrating @117; - controlsMismatch @22; - pcmEnable @23; - pcmDisable @24; - radarFault @26; - brakeHold @28; - parkBrake @29; - manualRestart @30; - joystickDebug @34; - longitudinalManeuver @124; - steerTempUnavailableSilent @35; - resumeRequired @36; - preDriverDistracted @37; - promptDriverDistracted @38; - driverDistracted @39; - preDriverUnresponsive @43; - promptDriverUnresponsive @44; - driverUnresponsive @45; - belowSteerSpeed @46; - lowBattery @48; - accFaulted @51; - sensorDataInvalid @52; - commIssue @53; - commIssueAvgFreq @109; - tooDistracted @54; - posenetInvalid @55; - soundsUnavailable @56; - preLaneChangeLeft @57; - preLaneChangeRight @58; - laneChange @59; - lowMemory @63; - stockAeb @64; - ldw @65; - carUnrecognized @66; - invalidLkasSetting @69; - speedTooHigh @70; - laneChangeBlocked @71; - relayMalfunction @72; - stockFcw @74; - startup @75; - startupNoCar @76; - startupNoControl @77; - startupNoSecOcKey @125; - startupMaster @78; - fcw @79; - steerSaturated @80; - belowEngageSpeed @84; - noGps @85; - wrongCruiseMode @87; - modeldLagging @89; - deviceFalling @90; - fanMalfunction @91; - cameraMalfunction @92; - cameraFrameRate @110; - processNotRunning @95; - dashcamMode @96; - selfdriveInitializing @98; - usbError @99; - cruiseMismatch @106; - canBusMissing @111; - selfdrivedLagging @112; - resumeBlocked @113; - steerTimeLimit @115; - vehicleSensorsInvalid @116; - locationdTemporaryError @103; - locationdPermanentError @118; - paramsdTemporaryError @50; - paramsdPermanentError @119; - actuatorsApiUnavailable @120; - espActive @121; - personalityChanged @122; - aeb @123; - - radarCanErrorDEPRECATED @15; - communityFeatureDisallowedDEPRECATED @62; - radarCommIssueDEPRECATED @67; - driverMonitorLowAccDEPRECATED @68; - gasUnavailableDEPRECATED @3; - dataNeededDEPRECATED @16; - modelCommIssueDEPRECATED @27; - ipasOverrideDEPRECATED @33; - geofenceDEPRECATED @40; - driverMonitorOnDEPRECATED @41; - driverMonitorOffDEPRECATED @42; - calibrationProgressDEPRECATED @47; - invalidGiraffeHondaDEPRECATED @49; - invalidGiraffeToyotaDEPRECATED @60; - internetConnectivityNeededDEPRECATED @61; - whitePandaUnsupportedDEPRECATED @81; - commIssueWarningDEPRECATED @83; - focusRecoverActiveDEPRECATED @86; - neosUpdateRequiredDEPRECATED @88; - modelLagWarningDEPRECATED @93; - startupOneplusDEPRECATED @82; - startupFuzzyFingerprintDEPRECATED @97; - noTargetDEPRECATED @25; - brakeUnavailableDEPRECATED @2; - plannerErrorDEPRECATED @32; - gpsMalfunctionDEPRECATED @94; - roadCameraErrorDEPRECATED @100; - driverCameraErrorDEPRECATED @101; - wideRoadCameraErrorDEPRECATED @102; - highCpuUsageDEPRECATED @105; - startupNoFwDEPRECATED @104; - lowSpeedLockoutDEPRECATED @31; - lkasDisabledDEPRECATED @107; - } -} - -# ******* main car state @ 100hz ******* -# all speeds in m/s - -struct CarState { - # CAN health - canValid @26 :Bool; # invalid counter/checksums - canTimeout @40 :Bool; # CAN bus dropped out - canErrorCounter @48 :UInt32; - - # car speed - vEgo @1 :Float32; # best estimate of speed - aEgo @16 :Float32; # best estimate of aCAN cceleration - vEgoRaw @17 :Float32; # unfiltered speed from wheel speed sensors - vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI - - vCruise @53 :Float32; # actual set speed - vCruiseCluster @54 :Float32; # set speed to display in the UI - - yawRate @22 :Float32; # best estimate of yaw rate - standstill @18 :Bool; - wheelSpeeds @2 :WheelSpeeds; - - # gas pedal, 0.0-1.0 - gas @3 :Float32; # this is user pedal only - gasPressed @4 :Bool; # this is user pedal only - - engineRpm @46 :Float32; - - # brake pedal, 0.0-1.0 - brake @5 :Float32; # this is user pedal only - brakePressed @6 :Bool; # this is user pedal only - regenBraking @45 :Bool; # this is user pedal only - parkingBrake @39 :Bool; - brakeHoldActive @38 :Bool; - - # steering wheel - steeringAngleDeg @7 :Float32; - steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple - steeringRateDeg @15 :Float32; - steeringTorque @8 :Float32; # TODO: standardize units - steeringTorqueEps @27 :Float32; # TODO: standardize units - steeringPressed @9 :Bool; # if the user is using the steering wheel - steerFaultTemporary @35 :Bool; # temporary EPS fault - steerFaultPermanent @36 :Bool; # permanent EPS fault - invalidLkasSetting @55 :Bool; # stock LKAS is incorrectly configured (i.e. on or off) - stockAeb @30 :Bool; - stockFcw @31 :Bool; - espDisabled @32 :Bool; - accFaulted @42 :Bool; - carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable - espActive @51 :Bool; - vehicleSensorsInvalid @52 :Bool; # invalid steering angle readings, etc. - lowSpeedAlert @56 :Bool; # lost steering control due to a dynamic min steering speed - - # cruise state - cruiseState @10 :CruiseState; - - # gear - gearShifter @14 :GearShifter; - - # button presses - buttonEvents @11 :List(ButtonEvent); - leftBlinker @20 :Bool; - rightBlinker @21 :Bool; - genericToggle @23 :Bool; - - # lock info - doorOpen @24 :Bool; - seatbeltUnlatched @25 :Bool; - - # clutch (manual transmission only) - clutchPressed @28 :Bool; - - # blindspot sensors - leftBlindspot @33 :Bool; # Is there something blocking the left lane change - rightBlindspot @34 :Bool; # Is there something blocking the right lane change - - fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0 - charging @43 :Bool; - - # process meta - cumLagMs @50 :Float32; - - struct WheelSpeeds { - # optional wheel speeds - fl @0 :Float32; - fr @1 :Float32; - rl @2 :Float32; - rr @3 :Float32; - } - - struct CruiseState { - enabled @0 :Bool; - speed @1 :Float32; - speedCluster @6 :Float32; # Set speed as shown on instrument cluster - available @2 :Bool; - speedOffset @3 :Float32; - standstill @4 :Bool; - nonAdaptive @5 :Bool; - } - - enum GearShifter { - unknown @0; - park @1; - drive @2; - neutral @3; - reverse @4; - sport @5; - low @6; - brake @7; - eco @8; - manumatic @9; - } - - # send on change - struct ButtonEvent { - pressed @0 :Bool; - type @1 :Type; - - enum Type { - unknown @0; - leftBlinker @1; - rightBlinker @2; - accelCruise @3; - decelCruise @4; - cancel @5; - altButton1 @6; - altButton2 @7; - mainCruise @8; - setCruise @9; - resumeCruise @10; - gapAdjustCruise @11; - } - } - - # deprecated - errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName); - brakeLightsDEPRECATED @19 :Bool; - steeringRateLimitedDEPRECATED @29 :Bool; - canMonoTimesDEPRECATED @12: List(UInt64); - canRcvTimeoutDEPRECATED @49 :Bool; - eventsDEPRECATED @13 :List(OnroadEventDEPRECATED); -} - -# ******* radar state @ 20hz ******* - -struct RadarData @0x888ad6581cf0aacb { - errors @0 :List(Error); - points @1 :List(RadarPoint); - - enum Error { - canError @0; - fault @1; - wrongConfig @2; - } - - # similar to LiveTracks - # is one timestamp valid for all? I think so - struct RadarPoint { - trackId @0 :UInt64; # no trackId reuse - - # these 3 are the minimum required - dRel @1 :Float32; # m from the front bumper of the car - yRel @2 :Float32; # m - vRel @3 :Float32; # m/s - - # these are optional and valid if they are not NaN - aRel @4 :Float32; # m/s^2 - yvRel @5 :Float32; # m/s - - # some radars flag measurements VS estimates - measured @6 :Bool; - } - - # deprecated - canMonoTimesDEPRECATED @2 :List(UInt64); -} - -# ******* car controls @ 100hz ******* - -struct CarControl { - # must be true for any actuator commands to work - enabled @0 :Bool; - latActive @11: Bool; - longActive @12: Bool; - - # Final actuator commands - actuators @6 :Actuators; - - # Blinker controls - leftBlinker @15: Bool; - rightBlinker @16: Bool; - - orientationNED @13 :List(Float32); - angularVelocity @14 :List(Float32); - - cruiseControl @4 :CruiseControl; - hudControl @5 :HUDControl; - - struct Actuators { - # lateral commands, mutually exclusive - steer @2: Float32; # [0.0, 1.0] - steeringAngleDeg @3: Float32; - curvature @7: Float32; - - # longitudinal commands - accel @4: Float32; # m/s^2 - longControlState @5: LongControlState; - - # these are only for logging the actual values sent to the car over CAN - gas @0: Float32; # [0.0, 1.0] - brake @1: Float32; # [0.0, 1.0] - steerOutputCan @8: Float32; # value sent over can to the car - speed @6: Float32; # m/s - - enum LongControlState @0xe40f3a917d908282{ - 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; -} diff --git a/cereal/car.capnp b/cereal/car.capnp new file mode 120000 index 00000000000000..4bc7f89b1fb5f2 --- /dev/null +++ b/cereal/car.capnp @@ -0,0 +1 @@ +../opendbc_repo/opendbc/car/car.capnp \ No newline at end of file diff --git a/opendbc_repo b/opendbc_repo index a363ce1ff452e6..ff2ac79e07c2d9 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit a363ce1ff452e63f2e49938508d97aece4ba6a3e +Subproject commit ff2ac79e07c2d9021c2fd4fc886ca61c81cd2694 diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 0afd0e73236a5b..9bd03bad80db9f 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -21,7 +21,6 @@ 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 @@ -63,8 +62,7 @@ def can_send(msgs: list[CanData]) -> None: class Car: CI: CarInterfaceBase RI: RadarInterfaceBase - CP: structs.CarParams - CP_capnp: car.CarParams + CP: car.CarParams def __init__(self, CI=None, RI=None) -> None: self.can_sock = messaging.sub_sock('can', timeout=20) @@ -144,9 +142,7 @@ def __init__(self, CI=None, RI=None) -> None: self.params.put("CarParamsPrevRoute", prev_cp) # Write CarParams for controls and radard - # convert to pycapnp representation for caching and logging - self.CP_capnp = convert_to_capnp(self.CP) - cp_bytes = self.CP_capnp.to_bytes() + cp_bytes = self.CP.to_bytes() self.params.put("CarParams", cp_bytes) self.params.put_nonblocking("CarParamsCache", cp_bytes) self.params.put_nonblocking("CarParamsPersistent", cp_bytes) @@ -160,19 +156,19 @@ def __init__(self, CI=None, RI=None) -> None: # 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.RadarData | None]: + def state_update(self) -> tuple[car.CarState, structs.RadarDataT | 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 = convert_to_capnp(self.CI.update(can_list)) + CS = self.CI.update(can_list) if self.CP.carName == 'mock': CS = self.mock_carstate.update(CS) # Update radar tracks from CAN - RD: structs.RadarData | None = self.RI.update(can_list) + RD: structs.RadarDataT | None = self.RI.update(can_list) self.sm.update(0) @@ -192,20 +188,20 @@ def state_update(self) -> tuple[car.CarState, structs.RadarData | None]: return CS, RD - def state_publish(self, CS: car.CarState, RD: structs.RadarData | None): + def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | 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_capnp + cp_send.carParams = self.CP 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 = convert_to_capnp(self.last_actuators_output) + co_send.carOutput.actuatorsOutput = self.last_actuators_output self.pm.send('carOutput', co_send) # kick off controlsd step while we actuate the latest carControl packet @@ -219,7 +215,7 @@ def state_publish(self, CS: car.CarState, RD: structs.RadarData | None): if RD is not None: tracks_msg = messaging.new_message('liveTracks') tracks_msg.valid = len(RD.errors) == 0 - tracks_msg.liveTracks = convert_to_capnp(RD) + tracks_msg.liveTracks = RD self.pm.send('liveTracks', tracks_msg) def controls_update(self, CS: car.CarState, CC: car.CarControl): @@ -235,7 +231,7 @@ def controls_update(self, CS: car.CarState, CC: car.CarControl): 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(convert_carControl(CC), now_nanos) + self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos) self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) self.CC_prev = CC diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py deleted file mode 100644 index 75e1c66d24254a..00000000000000 --- a/selfdrive/car/helpers.py +++ /dev/null @@ -1,74 +0,0 @@ -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 diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 66cf0dc6968531..4370ea141ba7d5 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -12,7 +12,6 @@ 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 @@ -41,6 +40,7 @@ def test_car_interfaces(self, car_name, data): 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 @@ def test_car_interfaces(self, car_name, data): # Run car interface now_nanos = 0 CC = car.CarControl.new_message(**cc_msg) - CC = convert_carControl(CC.as_reader()) + CC = CC.as_reader() for _ in range(10): car_interface.update([]) car_interface.apply(CC, now_nanos) @@ -80,7 +80,7 @@ def test_car_interfaces(self, car_name, data): CC = car.CarControl.new_message(**cc_msg) CC.enabled = True - CC = convert_carControl(CC.as_reader()) + CC = CC.as_reader() for _ in range(10): car_interface.update([]) car_interface.apply(CC, now_nanos) @@ -89,11 +89,10 @@ def test_car_interfaces(self, car_name, data): # 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 - car_params_capnp = convert_to_capnp(car_params).as_reader() - LongControl(car_params_capnp) + LongControl(car_params) if car_params.steerControlType == CarParams.SteerControlType.angle: - LatControlAngle(car_params_capnp, car_interface) + LatControlAngle(car_params, car_interface) elif car_params.lateralTuning.which() == 'pid': - LatControlPID(car_params_capnp, car_interface) + LatControlPID(car_params, car_interface) elif car_params.lateralTuning.which() == 'torque': - LatControlTorque(car_params_capnp, car_interface) + LatControlTorque(car_params, car_interface) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index ef54631e5431d7..72f511b7ce3b7e 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -1,6 +1,4 @@ import capnp -import copy -import dataclasses import os import pytest import random @@ -20,7 +18,6 @@ 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 @@ -187,7 +184,7 @@ def tearDownClass(cls): del cls.can_msgs def setUp(self): - self.CI = self.CarInterface(copy.deepcopy(self.CP), self.CarController, self.CarState) + self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState) assert self.CI Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled) @@ -195,7 +192,7 @@ def setUp(self): # TODO: check safetyModel is in release panda build self.safety = libpanda_py.libpanda - cfg = car.CarParams.SafetyConfig(**dataclasses.asdict(self.CP.safetyConfigs[-1])) + cfg = 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() @@ -220,7 +217,7 @@ def test_car_interface(self): # TODO: also check for checksum violations from can parser can_invalid_cnt = 0 can_valid = False - CC = structs.CarControl() + CC = structs.CarControl().as_reader() for i, msg in enumerate(self.can_msgs): CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),))) @@ -312,17 +309,17 @@ def test_car_controller(car_control): # Make sure we can send all messages while inactive CC = structs.CarControl() - test_car_controller(CC) + test_car_controller(CC.as_reader()) # 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) + test_car_controller(CC.as_reader()) # 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) + test_car_controller(CC.as_reader()) # Skip stdout/stderr capture with pytest, causes elevated memory usage @pytest.mark.nocapture @@ -409,7 +406,7 @@ def test_panda_safety_carstate(self): selfdrived = SelfdriveD(CP=self.CP) selfdrived.initialized = True for idx, can in enumerate(self.can_msgs): - CS = convert_to_capnp(self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), )))) + CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader() 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) diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index c8c8d027515bb1..ba4bd0faeceb4a 100644 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -5,7 +5,6 @@ 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 @@ -21,7 +20,6 @@ def test_saturation(self, car_name, controller): 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) diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py index b58bdbe522a441..d15519a8667d4e 100644 --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ b/selfdrive/controls/lib/tests/test_vehicle_model.py @@ -5,14 +5,13 @@ 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(convert_to_capnp(CP)) + self.VM = VehicleModel(CP) def test_round_trip_yaw_rate(self): # TODO: fix VM to work at zero speed diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py index ae1ed06b75ae18..7207bd1ef1abb9 100755 --- a/selfdrive/debug/format_fingerprints.py +++ b/selfdrive/debug/format_fingerprints.py @@ -2,12 +2,16 @@ 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] %} @@ -45,7 +49,7 @@ {% for car, _ in FW_VERSIONS[brand].items() %} CAR.{{car.name}}: { {% for key, fw_versions in FW_VERSIONS[brand][car].items() %} - (Ecu.{{key[0]}}, 0x{{"%0x" | format(key[1] | int)}}, \ + (Ecu.{{ECU_NAME[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}}, @@ -67,8 +71,9 @@ 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, FINGERPRINTS=FINGERPRINTS, - FW_VERSIONS=FW_VERSIONS, extra_fw_versions=extra_fw_versions)) + 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)) if __name__ == "__main__": diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index ec258f42f03ee3..4e91d324007943 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -17,7 +17,6 @@ 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 @@ -184,7 +183,7 @@ def main(demo=False): if demo: - CP = convert_to_capnp(get_demo_car_params()) + CP = 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) diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index 1bf2977a919703..145ba31adeedcb 100644 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -7,7 +7,6 @@ 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 @@ -24,7 +23,7 @@ def setup_method(self): 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", convert_to_capnp(get_demo_car_params()).to_bytes()) + Params().put("CarParams", get_demo_car_params().to_bytes()) self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry']) self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration']) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index b6d5ba6afd3922..9abdb6476ae45f 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -24,7 +24,7 @@ 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, convert_to_capnp +from openpilot.selfdrive.car.card import can_comm_callbacks 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", convert_to_capnp(CP).to_bytes()) + params.put("CarParams", CP.to_bytes()) def selfdrived_rcv_callback(msg, cfg, frame): diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index eb67f60cc0ec48..67d865a6546d12 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -05570b52a90fb8bf092f7a2563d6019577e1aa5d \ No newline at end of file +cbe81fea9b820b8dd38667866aac72a8a0dae966 \ No newline at end of file diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index 3b9d65b85a218d..c4ff080fa40bfb 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -10,7 +10,6 @@ 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 @@ -43,7 +42,7 @@ def name(self): class TestPowerDraw: def setup_method(self): - Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes()) + Params().put("CarParams", get_demo_car_params()).to_bytes() # wait a bit for power save to disable time.sleep(5)