move selfdrive/car to opendbc (commaai#1049)

* move most of /car

* rename selfdrive.car imports to opendbc.car

* move some car tests

move some car tests

* fix car tests

* fix actions?

* add panda ignore to pytest

* need these ignores from openpilot

* fix tests for outside pip install (openpilot/local)

forgot

.gitignore

@@ -7,6 +7,7 @@
 .*.swp
 .DS_Store
 .sconsign.dblite
+.hypothesis
 
 opendbc/can/*.so
 opendbc/can/*.a

opendbc/car/__init__.py

@@ -0,0 +1,323 @@
+# functions common among cars
+import logging
+from collections import namedtuple
+from dataclasses import dataclass
+from enum import IntFlag, ReprEnum, EnumType
+from dataclasses import replace
+
+from panda import uds
+from opendbc.car import structs
+from opendbc.car.can_definitions import CanData
+from opendbc.car.docs_definitions import CarDocs
+from opendbc.car.common.numpy_fast import clip, interp
+
+# set up logging
+carlog = logging.getLogger('carlog')
+carlog.setLevel(logging.INFO)
+carlog.propagate = False
+
+DT_CTRL = 0.01  # car state and control loop timestep (s)
+
+# kg of standard extra cargo to count for drive, gas, etc...
+STD_CARGO_KG = 136.
+
+ButtonType = structs.CarState.ButtonEvent.Type
+AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])
+
+
+def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
+  if val > val_steady + hyst_gap:
+    val_steady = val - hyst_gap
+  elif val < val_steady - hyst_gap:
+    val_steady = val + hyst_gap
+  return val_steady
+
+
+def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, structs.CarState.ButtonEvent.Type],
+                         unpressed_btn: int = 0) -> list[structs.CarState.ButtonEvent]:
+  events: list[structs.CarState.ButtonEvent] = []
+
+  if cur_btn == prev_btn:
+    return events
+
+  # Add events for button presses, multiple when a button switches without going to unpressed
+  for pressed, btn in ((False, prev_btn), (True, cur_btn)):
+    if btn != unpressed_btn:
+      events.append(structs.CarState.ButtonEvent(pressed=pressed,
+                                                 type=buttons_dict.get(btn, ButtonType.unknown)))
+  return events
+
+
+def gen_empty_fingerprint():
+  return {i: {} for i in range(8)}
+
+
+# these params were derived for the Civic and used to calculate params for other cars
+class VehicleDynamicsParams:
+  MASS = 1326. + STD_CARGO_KG
+  WHEELBASE = 2.70
+  CENTER_TO_FRONT = WHEELBASE * 0.4
+  CENTER_TO_REAR = WHEELBASE - CENTER_TO_FRONT
+  ROTATIONAL_INERTIA = 2500
+  TIRE_STIFFNESS_FRONT = 192150
+  TIRE_STIFFNESS_REAR = 202500
+
+
+# TODO: get actual value, for now starting with reasonable value for
+# civic and scaling by mass and wheelbase
+def scale_rot_inertia(mass, wheelbase):
+  return VehicleDynamicsParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (VehicleDynamicsParams.MASS * VehicleDynamicsParams.WHEELBASE ** 2)
+
+
+# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
+# mass and CG position, so all cars will have approximately similar dyn behaviors
+def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor):
+  center_to_rear = wheelbase - center_to_front
+  tire_stiffness_front = (VehicleDynamicsParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
+                         (center_to_rear / wheelbase) / (VehicleDynamicsParams.CENTER_TO_REAR / VehicleDynamicsParams.WHEELBASE)
+
+  tire_stiffness_rear = (VehicleDynamicsParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
+                        (center_to_front / wheelbase) / (VehicleDynamicsParams.CENTER_TO_FRONT / VehicleDynamicsParams.WHEELBASE)
+
+  return tire_stiffness_front, tire_stiffness_rear
+
+
+DbcDict = dict[str, str]
+
+
+def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> DbcDict:
+  return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
+
+
+def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
+
+  # limits due to driver torque
+  driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
+  driver_min_torque = -LIMITS.STEER_MAX + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
+  max_steer_allowed = max(min(LIMITS.STEER_MAX, driver_max_torque), 0)
+  min_steer_allowed = min(max(-LIMITS.STEER_MAX, driver_min_torque), 0)
+  apply_torque = clip(apply_torque, min_steer_allowed, max_steer_allowed)
+
+  # slow rate if steer torque increases in magnitude
+  if apply_torque_last > 0:
+    apply_torque = clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
+                        apply_torque_last + LIMITS.STEER_DELTA_UP)
+  else:
+    apply_torque = clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP,
+                        min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
+
+  return int(round(float(apply_torque)))
+
+
+def apply_dist_to_meas_limits(val, val_last, val_meas,
+                              STEER_DELTA_UP, STEER_DELTA_DOWN,
+                              STEER_ERROR_MAX, STEER_MAX):
+  # limits due to comparison of commanded val VS measured val (torque/angle/curvature)
+  max_lim = min(max(val_meas + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX)
+  min_lim = max(min(val_meas - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX)
+
+  val = clip(val, min_lim, max_lim)
+
+  # slow rate if val increases in magnitude
+  if val_last > 0:
+    val = clip(val,
+               max(val_last - STEER_DELTA_DOWN, -STEER_DELTA_UP),
+               val_last + STEER_DELTA_UP)
+  else:
+    val = clip(val,
+               val_last - STEER_DELTA_UP,
+               min(val_last + STEER_DELTA_DOWN, STEER_DELTA_UP))
+
+  return float(val)
+
+
+def apply_meas_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
+  return int(round(apply_dist_to_meas_limits(apply_torque, apply_torque_last, motor_torque,
+                                             LIMITS.STEER_DELTA_UP, LIMITS.STEER_DELTA_DOWN,
+                                             LIMITS.STEER_ERROR_MAX, LIMITS.STEER_MAX)))
+
+
+def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
+  # pick angle rate limits based on wind up/down
+  steer_up = apply_angle_last * apply_angle >= 0. and abs(apply_angle) > abs(apply_angle_last)
+  rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN
+
+  angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v)
+  return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
+
+
+def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_frames: int,
+                           max_above_limit_frames: int, max_mismatching_frames: int = 1):
+  """
+  Several cars have the ability to work around their EPS limits by cutting the
+  request bit of their LKAS message after a certain number of frames above the limit.
+  """
+
+  # Count up to max_above_limit_frames, at which point we need to cut the request for above_limit_frames to avoid a fault
+  if request and fault_condition:
+    above_limit_frames += 1
+  else:
+    above_limit_frames = 0
+
+  # Once we cut the request bit, count additionally to max_mismatching_frames before setting the request bit high again.
+  # Some brands do not respect our workaround without multiple messages on the bus, for example
+  if above_limit_frames > max_above_limit_frames:
+    request = False
+
+  if above_limit_frames >= max_above_limit_frames + max_mismatching_frames:
+    above_limit_frames = 0
+
+  return above_limit_frames, request
+
+
+def apply_center_deadzone(error, deadzone):
+  if (error > - deadzone) and (error < deadzone):
+    error = 0.
+  return error
+
+
+def rate_limit(new_value, last_value, dw_step, up_step):
+  return clip(new_value, last_value + dw_step, last_value + up_step)
+
+
+def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
+                 torque_params: structs.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
+  friction_interp = interp(
+    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
+    [-friction_threshold, friction_threshold],
+    [-torque_params.friction, torque_params.friction]
+  )
+  friction = float(friction_interp) if friction_compensation else 0.0
+  return friction
+
+
+def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
+  dat = [0x02, uds.SERVICE_TYPE.TESTER_PRESENT]
+  if subaddr is not None:
+    dat.insert(0, subaddr)
+  dat.append(0x80 if suppress_response else 0x0)  # sub-function
+
+  dat.extend([0x0] * (8 - len(dat)))
+  return CanData(addr, bytes(dat), bus)
+
+
+def get_safety_config(safety_model: structs.CarParams.SafetyModel, safety_param: int = None) -> structs.CarParams.SafetyConfig:
+  ret = structs.CarParams.SafetyConfig()
+  ret.safetyModel = safety_model
+  if safety_param is not None:
+    ret.safetyParam = safety_param
+  return ret
+
+
+class CanBusBase:
+  offset: int
+
+  def __init__(self, CP, fingerprint: dict[int, dict[int, int]] | None) -> None:
+    if CP is None:
+      assert fingerprint is not None
+      num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1
+    else:
+      num = len(CP.safetyConfigs)
+    self.offset = 4 * (num - 1)
+
+
+class CanSignalRateCalculator:
+  """
+  Calculates the instantaneous rate of a CAN signal by using the counter
+  variable and the known frequency of the CAN message that contains it.
+  """
+  def __init__(self, frequency):
+    self.frequency = frequency
+    self.previous_counter = 0
+    self.previous_value = 0
+    self.rate = 0
+
+  def update(self, current_value, current_counter):
+    if current_counter != self.previous_counter:
+      self.rate = (current_value - self.previous_value) * self.frequency
+
+    self.previous_counter = current_counter
+    self.previous_value = current_value
+
+    return self.rate
+
+
+@dataclass(frozen=True, kw_only=True)
+class CarSpecs:
+  mass: float  # kg, curb weight
+  wheelbase: float  # meters
+  steerRatio: float
+  centerToFrontRatio: float = 0.5
+  minSteerSpeed: float = 0.0  # m/s
+  minEnableSpeed: float = -1.0  # m/s
+  tireStiffnessFactor: float = 1.0
+
+  def override(self, **kwargs):
+    return replace(self, **kwargs)
+
+
+class Freezable:
+  _frozen: bool = False
+
+  def freeze(self):
+    if not self._frozen:
+      self._frozen = True
+
+  def __setattr__(self, *args, **kwargs):
+    if self._frozen:
+      raise Exception("cannot modify frozen object")
+    super().__setattr__(*args, **kwargs)
+
+
+@dataclass(order=True)
+class PlatformConfig(Freezable):
+  car_docs: list[CarDocs]
+  specs: CarSpecs
+
+  dbc_dict: DbcDict
+
+  flags: int = 0
+
+  platform_str: str | None = None
+
+  def __hash__(self) -> int:
+    return hash(self.platform_str)
+
+  def override(self, **kwargs):
+    return replace(self, **kwargs)
+
+  def init(self):
+    pass
+
+  def __post_init__(self):
+    self.init()
+
+
+class PlatformsType(EnumType):
+  def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds):
+    for key in classdict._member_names.keys():
+      cfg: PlatformConfig = classdict[key]
+      cfg.platform_str = key
+      cfg.freeze()
+    return super().__new__(metacls, cls, bases, classdict, boundary=boundary, _simple=_simple, **kwds)
+
+
+class Platforms(str, ReprEnum, metaclass=PlatformsType):
+  config: PlatformConfig
+
+  def __new__(cls, platform_config: PlatformConfig):
+    member = str.__new__(cls, platform_config.platform_str)
+    member.config = platform_config
+    member._value_ = platform_config.platform_str
+    return member
+
+  def __repr__(self):
+    return f"<{self.__class__.__name__}.{self.name}>"
+
+  @classmethod
+  def create_dbc_map(cls) -> dict[str, DbcDict]:
+    return {p: p.config.dbc_dict for p in cls}
+
+  @classmethod
+  def with_flags(cls, flags: IntFlag) -> set['Platforms']:
+    return {p for p in cls if p.config.flags & flags}

opendbc/car/body/bodycan.py

@@ -0,0 +1,7 @@
+def create_control(packer, torque_l, torque_r):
+  values = {
+    "TORQUE_L": torque_l,
+    "TORQUE_R": torque_r,
+  }
+
+  return packer.make_can_msg("TORQUE_CMD", 0, values)