071 clean

selfdrive/car/car_helpers.py

@@ -126,6 +126,9 @@ def fingerprint(logcan, sendcan, has_relay):
         if frame > frame_fingerprint:
           # fingerprint done
           car_fingerprint = candidate_cars[b][0]
+      elif len(candidate_cars[b]) == 2: # For the RAV4 2019 and Corolla 2020 LE Fingerprint problem
+        if frame > 180:
+          car_fingerprint = candidate_cars[b][1]
 
     # bail if no cars left or we've been waiting for more than 2s
     failed = all(len(cc) == 0 for cc in candidate_cars.values()) or frame > 200

selfdrive/car/chrysler/interface.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, arne182
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -59,7 +59,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
     ret.steerRateCost = 0.7
     ret.steerLimitTimer = 0.4
 
-    if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
+    if candidate in (CAR.JEEP_CHEROKEE_2017, CAR.JEEP_CHEROKEE_2018, CAR.JEEP_CHEROKEE_2019):
       ret.wheelbase = 2.91  # in meters
       ret.steerRatio = 12.7
       ret.steerActuatorDelay = 0.2  # in seconds
@@ -117,6 +117,7 @@ def update(self, c, can_strings):
 
     # create message
     ret = car.CarState.new_message()
+    ret_arne182 = arne182.CarStateArne182.new_message()
 
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
 
@@ -187,6 +188,7 @@ def update(self, c, can_strings):
 
     # events
     events = []
+    eventsArne182 = []
     if not (ret.gearShifter in (GearShifter.drive, GearShifter.low)):
       events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if ret.doorOpen:
@@ -216,12 +218,13 @@ def update(self, c, can_strings):
       events.append(create_event('belowSteerSpeed', [ET.WARNING]))
 
     ret.events = events
+    ret_arne182.events = eventsArne182
 
     self.gas_pressed_prev = ret.gasPressed
     self.brake_pressed_prev = ret.brakePressed
     self.cruise_enabled_prev = ret.cruiseState.enabled
 
-    return ret.as_reader()
+    return ret.as_reader(), ret_arne182.as_reader()
 
   # pass in a car.CarControl
   # to be called @ 100hz

selfdrive/car/ford/interface.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, arne182
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
@@ -110,6 +110,7 @@ def update(self, c, can_strings):
 
     # create message
     ret = car.CarState.new_message()
+    ret_arne182 = arne182.CarStateArne182.new_message()
 
     ret.canValid = self.cp.can_valid
 
@@ -140,6 +141,7 @@ def update(self, c, can_strings):
 
     # events
     events = []
+    eventsArne182 = []
 
     if self.CS.steer_error:
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
@@ -162,12 +164,13 @@ def update(self, c, can_strings):
       events.append(create_event('steerTempUnavailableMute', [ET.WARNING]))
 
     ret.events = events
+    ret_arne182.events = eventsArne182
 
     self.gas_pressed_prev = ret.gasPressed
     self.brake_pressed_prev = ret.brakePressed
     self.cruise_enabled_prev = ret.cruiseState.enabled
 
-    return ret.as_reader()
+    return ret.as_reader(), ret_arne182.as_reader()
 
   # pass in a car.CarControl
   # to be called @ 100hz

selfdrive/car/gm/interface.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, arne182
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -179,6 +179,7 @@ def update(self, c, can_strings):
 
     # create message
     ret = car.CarState.new_message()
+    ret_arne182 = arne182.CarStateArne182.new_message()
 
     ret.canValid = self.pt_cp.can_valid
 
@@ -260,6 +261,7 @@ def update(self, c, can_strings):
     ret.buttonEvents = buttonEvents
 
     events = []
+    eventsArne182 = []
     if self.CS.steer_error:
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     if self.CS.steer_not_allowed:
@@ -311,14 +313,15 @@ def update(self, c, can_strings):
           events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
 
     ret.events = events
+    ret_arne182.events = eventsArne182
 
     # update previous brake/gas pressed
     self.acc_active_prev = self.CS.acc_active
     self.gas_pressed_prev = ret.gasPressed
     self.brake_pressed_prev = ret.brakePressed
 
     # cast to reader so it can't be modified
-    return ret.as_reader()
+    return ret.as_reader(), ret_arne182.as_reader()
 
   # pass in a car.CarControl
   # to be called @ 100hz

selfdrive/car/honda/interface.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import numpy as np
-from cereal import car
+from cereal import car, arne182
 from common.numpy_fast import clip, interp
 from common.realtime import DT_CTRL
 from selfdrive.swaglog import cloudlog
@@ -384,6 +384,7 @@ def update(self, c, can_strings):
 
     # create message
     ret = car.CarState.new_message()
+    ret_arne182 = arne182.CarStateArne182.new_message()
 
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
 
@@ -490,6 +491,7 @@ def update(self, c, can_strings):
 
     # events
     events = []
+    eventsArne182 = []
     if self.CS.steer_error:
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     elif self.CS.steer_warning:
@@ -562,15 +564,15 @@ def update(self, c, can_strings):
         self.last_enable_sent = cur_time
     elif enable_pressed:
       events.append(create_event('buttonEnable', [ET.ENABLE]))
-
+    ret_arne182.events = eventsArne182
     ret.events = events
 
     # update previous brake/gas pressed
     self.gas_pressed_prev = ret.gasPressed
     self.brake_pressed_prev = ret.brakePressed
 
     # cast to reader so it can't be modified
-    return ret.as_reader()
+    return ret.as_reader(), ret_arne182.as_reader()
 
   # pass in a car.CarControl
   # to be called @ 100hz

selfdrive/car/hyundai/interface.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, arne182
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -157,7 +157,8 @@ def update(self, c, can_strings):
     self.CS.update(self.cp, self.cp_cam)
     # create message
     ret = car.CarState.new_message()
-
+    ret_arne182 = arne182.CarStateArne182.new_message()
+
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
 
     # speeds
@@ -233,6 +234,7 @@ def update(self, c, can_strings):
       self.low_speed_alert = False
 
     events = []
+    eventsArne182 = []
     if not ret.gearShifter == GearShifter.drive:
       events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if ret.doorOpen:
@@ -265,12 +267,13 @@ def update(self, c, can_strings):
       events.append(create_event('belowSteerSpeed', [ET.WARNING]))
 
     ret.events = events
-
+    ret_arne182.events = eventsArne182
+
     self.gas_pressed_prev = ret.gasPressed
     self.brake_pressed_prev = ret.brakePressed
     self.cruise_enabled_prev = ret.cruiseState.enabled
 
-    return ret.as_reader()
+    return ret.as_reader(), ret_arne182.as_reader()
 
   def apply(self, c):
 

selfdrive/car/mock/interface.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, arne182
 from selfdrive.config import Conversions as CV
 from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
@@ -37,7 +37,7 @@ def compute_gb(accel, speed):
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
 
     ret = car.CarParams.new_message()
-
+    
     ret.carName = "mock"
     ret.carFingerprint = candidate
 
@@ -88,6 +88,7 @@ def update(self, c, can_strings):
 
     # create message
     ret = car.CarState.new_message()
+    ret_arne182 = arne182.CarStateArne182.new_message()
 
     # speeds
     ret.vEgo = self.speed
@@ -108,9 +109,10 @@ def update(self, c, can_strings):
     ret.steeringAngle = curvature * self.CP.steerRatio * self.CP.wheelbase * CV.RAD_TO_DEG
 
     events = []
+    eventsArne182 = []
     ret.events = events
-
-    return ret.as_reader()
+    ret_arne182.events = eventsArne182
+    return ret.as_reader(), ret_arne182.as_reader()
 
   def apply(self, c):
     # in mock no carcontrols

selfdrive/car/subaru/interface.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, arne182
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -102,7 +102,8 @@ def update(self, c, can_strings):
 
     # create message
     ret = car.CarState.new_message()
-
+    ret_arne182 = arne182.CarStateArne182.new_message()
+
     ret.canValid = self.pt_cp.can_valid and self.cam_cp.can_valid
 
     # speeds
@@ -160,6 +161,7 @@ def update(self, c, can_strings):
 
 
     events = []
+    eventsArne182 = []
     if ret.seatbeltUnlatched:
       events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
 
@@ -179,13 +181,13 @@ def update(self, c, can_strings):
       events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
 
     ret.events = events
-
+    ret_arne182.events = eventsArne182
     # update previous brake/gas pressed
     self.gas_pressed_prev = ret.gasPressed
     self.acc_active_prev = self.CS.acc_active
 
     # cast to reader so it can't be modified
-    return ret.as_reader()
+    return ret.as_reader(), ret_arne182.as_reader()
 
   def apply(self, c):
     can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,

selfdrive/car/toyota/carstate.py

@@ -123,6 +123,7 @@ def __init__(self, CP):
     self.left_blinker_on = 0
     self.right_blinker_on = 0
     self.angle_offset = 0.
+    self.pcm_acc_status = False
     self.init_angle_offset = False
     self.v_cruise_pcmlast = 41.0
     self.setspeedoffset = 34.0
@@ -228,7 +229,6 @@ def update(self, cp, cp_cam):
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
     # we could use the override bit from dbc, but it's triggered at too high torque values
     self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
-    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
 
     self.user_brake = 0
     if self.CP.carFingerprint == CAR.LEXUS_IS:
@@ -239,10 +239,12 @@ def update(self, cp, cp_cam):
       self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     if self.CP.carFingerprint in TSS2_CAR:
       minimum_set_speed = 27.0
+    elif self.CP.carFingerprint == CAR.RAV4:
+      minimum_set_speed = 44.0
     else:
       minimum_set_speed = 41.0
     if cp.vl["PCM_CRUISE"]['CRUISE_STATE'] and not self.pcm_acc_status:
-      if self.v_ego < 11.38:
+      if self.v_ego < 12.5:
         self.setspeedoffset = max(min(int(minimum_set_speed-self.v_ego*3.6),(minimum_set_speed-7.0)),0.0)
         self.v_cruise_pcmlast = self.v_cruise_pcm
       else:
@@ -272,7 +274,7 @@ def update(self, cp, cp_cam):
 
     self.v_cruise_pcm = min(max(7, int(self.v_cruise_pcm) - self.setspeedoffset),169)
 
-
+    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS: