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Comma Device
2026-01-11 18:23:29 +08:00
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opendbc_repo/opendbc/car/volkswagen/carstate.py Normal file
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from opendbc.can import CANParser
from opendbc.car import Bus, structs
from opendbc.car.interfaces import CarStateBase
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
CarControllerParams, VolkswagenFlags
ButtonType = structs.CarState.ButtonEvent.Type
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
self.frame = 0
self.eps_init_complete = False
self.CCP = CarControllerParams(CP)
self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
self.esp_hold_confirmation = False
self.upscale_lead_car_signal = False
self.eps_stock_values = False
def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
if not self.CP.pcmCruise:
for b in buttonEvents:
# Enable OP long on falling edge of enable buttons
if b.type in (ButtonType.setCruise, ButtonType.resumeCruise) and not b.pressed:
return True
return False
def create_button_events(self, pt_cp, buttons):
button_events = []
for button in buttons:
state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
if self.button_states[button.event_type] != state:
event = structs.CarState.ButtonEvent()
event.type = button.event_type
event.pressed = state
button_events.append(event)
self.button_states[button.event_type] = state
return button_events
def update(self, can_parsers) -> structs.CarState:
pt_cp = can_parsers[Bus.pt]
cam_cp = can_parsers[Bus.cam]
ext_cp = pt_cp if self.CP.networkLocation == NetworkLocation.fwdCamera else cam_cp
if self.CP.flags & VolkswagenFlags.PQ:
return self.update_pq(pt_cp, cam_cp, ext_cp)
ret = structs.CarState()
if self.CP.transmissionType == TransmissionType.direct:
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Motor_EV_01"]["MO_Waehlpos"], None))
elif self.CP.transmissionType == TransmissionType.manual:
ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"]
if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]):
ret.gearShifter = GearShifter.reverse
else:
ret.gearShifter = GearShifter.drive
else:
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Gateway_73"]["GE_Fahrstufe"], None))
if True:
# MQB-specific
self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"]) # Analog vs digital instrument cluster
ret.wheelSpeeds = self.get_wheel_speeds(
pt_cp.vl["ESP_19"]["ESP_VL_Radgeschw_02"],
pt_cp.vl["ESP_19"]["ESP_VR_Radgeschw_02"],
pt_cp.vl["ESP_19"]["ESP_HL_Radgeschw_02"],
pt_cp.vl["ESP_19"]["ESP_HR_Radgeschw_02"],
)
ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD
hca_status = self.CCP.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0 # EA
drive_mode = True
ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
brake_pedal_pressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"])
brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
ret.brakePressed = brake_pedal_pressed or brake_pressure_detected
ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"]) # FIXME: need to include an EPB check as well
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"]])
if self.CP.enableBsm:
# Infostufe: BSM LED on, Warnung: BSM LED flashing
ret.leftBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
ret.rightBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
ret.stockFcw = bool(ext_cp.vl["ACC_10"]["AWV2_Freigabe"])
ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"]
self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
acc_limiter_mode = ext_cp.vl["ACC_02"]["ACC_Gesetzte_Zeitluecke"] == 0
speed_limiter_mode = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"])
ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5)
ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5)
ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS if self.CP.pcmCruise else 0
ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
# Shared logic
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.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status, drive_mode)
ret.gasPressed = ret.gas > 0
ret.espActive = bool(pt_cp.vl["ESP_21"]["ESP_Eingriff"])
ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3
ret.standstill = ret.vEgoRaw == 0
ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
ret.cruiseState.nonAdaptive = acc_limiter_mode or speed_limiter_mode
if ret.cruiseState.speed > 90:
ret.cruiseState.speed = 0
self.eps_stock_values = pt_cp.vl["LH_EPS_03"]
self.ldw_stock_values = cam_cp.vl["LDW_02"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
self.frame += 1
return ret
def update_pq(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
ret = structs.CarState()
# Update vehicle speed and acceleration from ABS wheel speeds.
ret.wheelSpeeds = self.get_wheel_speeds(
pt_cp.vl["Bremse_3"]["Radgeschw__VL_4_1"],
pt_cp.vl["Bremse_3"]["Radgeschw__VR_4_1"],
pt_cp.vl["Bremse_3"]["Radgeschw__HL_4_1"],
pt_cp.vl["Bremse_3"]["Radgeschw__HR_4_1"],
)
# vEgo obtained from Bremse_1 vehicle speed rather than Bremse_3 wheel speeds because Bremse_3 isn't present on NSF
ret.vEgoRaw = pt_cp.vl["Bremse_1"]["Geschwindigkeit_neu__Bremse_1_"] * CV.KPH_TO_MS
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw == 0
# Update EPS position and state info. For signed values, VW sends the sign in a separate signal.
ret.steeringAngleDeg = pt_cp.vl["Lenkhilfe_3"]["LH3_BLW"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_BLWSign"])]
ret.steeringRateDeg = pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit"] * (1, -1)[int(pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit_S"])]
ret.steeringTorque = pt_cp.vl["Lenkhilfe_3"]["LH3_LM"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_LMSign"])]
ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
ret.yawRate = pt_cp.vl["Bremse_5"]["Giergeschwindigkeit"] * (1, -1)[int(pt_cp.vl["Bremse_5"]["Vorzeichen_der_Giergeschwindigk"])] * CV.DEG_TO_RAD
hca_status = self.CCP.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"])
ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status)
# Update gas, brakes, and gearshift.
ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0
ret.gasPressed = ret.gas > 0
ret.brake = pt_cp.vl["Bremse_5"]["Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremslichtschalter"])
ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
# Update gear and/or clutch position data.
if self.CP.transmissionType == TransmissionType.automatic:
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"], None))
elif self.CP.transmissionType == TransmissionType.manual:
ret.clutchPressed = not pt_cp.vl["Motor_1"]["Kupplungsschalter"]
reverse_light = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Rueckfahr"])
if reverse_light:
ret.gearShifter = GearShifter.reverse
else:
ret.gearShifter = GearShifter.drive
# Update door and trunk/hatch lid open status.
ret.doorOpen = any([pt_cp.vl["Gate_Komf_1"]["GK1_Fa_Tuerkont"],
pt_cp.vl["Gate_Komf_1"]["BSK_BT_geoeffnet"],
pt_cp.vl["Gate_Komf_1"]["BSK_HL_geoeffnet"],
pt_cp.vl["Gate_Komf_1"]["BSK_HR_geoeffnet"],
pt_cp.vl["Gate_Komf_1"]["BSK_HD_Hauptraste"]])
# Update seatbelt fastened status.
ret.seatbeltUnlatched = not bool(pt_cp.vl["Airbag_1"]["Gurtschalter_Fahrer"])
# Consume blind-spot monitoring info/warning LED states, if available.
# Infostufe: BSM LED on, Warnung: BSM LED flashing
if self.CP.enableBsm:
ret.leftBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_li"])
ret.rightBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_re"])
# Consume factory LDW data relevant for factory SWA (Lane Change Assist)
# and capture it for forwarding to the blind spot radar controller
self.ldw_stock_values = cam_cp.vl["LDW_Status"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
# Stock FCW is considered active if the release bit for brake-jerk warning
# is set. Stock AEB considered active if the partial braking or target
# braking release bits are set.
# Refer to VW Self Study Program 890253: Volkswagen Driver Assistance
# Systems, chapters on Front Assist with Braking and City Emergency
# Braking for the 2016 Passat NMS
# TODO: deferred until we can collect data on pre-MY2016 behavior, AWV message may be shorter with fewer signals
ret.stockFcw = False
ret.stockAeb = False
# Update ACC radar status.
self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"]
ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
if self.CP.pcmCruise:
ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)
else:
ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3
# Update ACC setpoint. When the setpoint reads as 255, the driver has not
# yet established an ACC setpoint, so treat it as zero.
ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint
ret.cruiseState.speed = 0
# Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(300, pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_li"],
pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_re"])
ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
self.gra_stock_values = pt_cp.vl["GRA_Neu"]
# Additional safety checks performed in CarInterface.
ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"])
self.frame += 1
return ret
def update_hca_state(self, hca_status, drive_mode=True):
# Treat FAULT as temporary for worst likely EPS recovery time, for cars without factory Lane Assist
# DISABLED means the EPS hasn't been configured to support Lane Assist
self.eps_init_complete = self.eps_init_complete or (hca_status in ("DISABLED", "READY", "ACTIVE") or self.frame > 600)
perm_fault = drive_mode and hca_status == "DISABLED" or (self.eps_init_complete and hca_status == "FAULT")
temp_fault = drive_mode and hca_status in ("REJECTED", "PREEMPTED") or not self.eps_init_complete
return temp_fault, perm_fault
@staticmethod
def get_can_parsers(CP):
if CP.flags & VolkswagenFlags.PQ:
return CarState.get_can_parsers_pq(CP)
# another case of the 1-50Hz
cam_messages = []
if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
cam_messages += [
("HCA_01", 1), # From R242 Driver assistance camera, 50Hz if steering/1Hz if not
]
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [
# the 50->1Hz is currently too much for the CANParser to figure out
("Blinkmodi_02", 1), # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
], CANBUS.pt),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CANBUS.cam),
}
@staticmethod
def get_can_parsers_pq(CP):
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CANBUS.pt),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CANBUS.cam),
}