#!/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
[docs]
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, 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.TESLA_MODELS_RAVEN else 0)
if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
ret.openpilotLongitudinalControl = True
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):
ret = self.CS.update(self.cp, self.cp_cam)
ret.events = self.create_common_events(ret).to_msg()
return ret