clearpilot: initial commit of full source

selfdrive/car/tesla/interface.py

@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+from cereal import car
+from panda import Panda
+from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+
+
+class CarInterface(CarInterfaceBase):
+  @staticmethod
+  def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
+    ret.carName = "tesla"
+
+    # There is no safe way to do steer blending with user torque,
+    # so the steering behaves like autopilot. This is not
+    # how openpilot should be, hence dashcamOnly
+    ret.dashcamOnly = True
+
+    ret.steerControlType = car.CarParams.SteerControlType.angle
+
+    # Set kP and kI to 0 over the whole speed range to have the planner accel as actuator command
+    ret.longitudinalTuning.kpBP = [0]
+    ret.longitudinalTuning.kpV = [0]
+    ret.longitudinalTuning.kiBP = [0]
+    ret.longitudinalTuning.kiV = [0]
+    ret.longitudinalActuatorDelayUpperBound = 0.5 # s
+    ret.radarTimeStep = (1.0 / 8) # 8Hz
+
+    # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
+    # If so, we assume that it is connected to the longitudinal harness.
+    flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.MODELS_RAVEN else 0)
+    if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
+      ret.openpilotLongitudinalControl = not disable_openpilot_long
+      flags |= Panda.FLAG_TESLA_LONG_CONTROL
+      ret.safetyConfigs = [
+        get_safety_config(car.CarParams.SafetyModel.tesla, flags),
+        get_safety_config(car.CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
+      ]
+    else:
+      ret.openpilotLongitudinalControl = False
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)]
+
+    ret.steerLimitTimer = 1.0
+    ret.steerActuatorDelay = 0.25
+    return ret
+
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
+
+    ret.events = self.create_common_events(ret).to_msg()
+
+    return ret
+
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)