Update values.py

cereal/car.capnp

@@ -117,6 +117,18 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     focusRecoverActiveDEPRECATED @86;
     neosUpdateRequiredDEPRECATED @88;
     modelLagWarningDEPRECATED @93;
+
+    #dp
+    preLaneChangeLeftALC @94;
+    preLaneChangeRightALC @95;
+    manualSteeringRequired @96;
+    manualSteeringRequiredBlinkersOn @97;
+    leadCarMoving @98;
+
+    # timebomb assist
+    timebombWarn @99;
+    timebombBypassing @100;
+    timebombBypassed @101;
   }
 }
 
@@ -184,6 +196,10 @@ struct CarState {
   leftBlindspot @33 :Bool; # Is there something blocking the left lane change
   rightBlindspot @34 :Bool; # Is there something blocking the right lane change
 
+  # dp
+  lkMode @37 :Bool;
+  stopSteering @38 :Bool; # timebomb - stopSteering
+
   struct WheelSpeeds {
     # optional wheel speeds
     fl @0 :Float32;

cereal/log.capnp

@@ -874,6 +874,9 @@ struct PathPlan {
   laneChangeState @18 :LaneChangeState;
   laneChangeDirection @19 :LaneChangeDirection;
 
+  # dp
+  dpALCAllowed @20 :Bool;
+
   enum Desire {
     none @0;
     turnLeft @1;
@@ -2138,5 +2141,84 @@ struct Event {
     modelV2 @75 :ModelDataV2;
     frontEncodeIdx @76 :EncodeIndex; # driver facing camera
     wideEncodeIdx @77 :EncodeIndex;
+    dragonConf @78 :DragonConf;
   }
 }
+
+struct DragonConf {
+  dpThermalStarted @0 :Bool;
+  dpThermalOverheat @1 :Bool;
+  dpVw @2 :Bool;
+  dpAtl @3 :Bool;
+  dpAppWaze @4 :Bool;
+  dpAppWazeManual @5 :Int8;
+  dpAppHr @6 :Bool;
+  dpAppHrManual @7 :Int8;
+  dpDashcam @8 :Bool;
+  dpDashcamHoursStored @9 :UInt8;
+  dpAutoShutdown @10 :Bool;
+  dpAthenad @11 :Bool;
+  dpUploader @12 :Bool;
+  dpLatCtrl @13 :Bool;
+  dpSteeringLimitAlert @14 :Bool;
+  dpSteeringOnSignal @15 :Bool;
+  dpSignalOffDelay @16 :UInt8;
+  dpAssistedLcMinMph @17 :Float32;
+  dpAutoLc @18 :Bool;
+  dpAutoLcCont @19 :Bool;
+  dpAutoLcMinMph @20 :Float32;
+  dpAutoLcDelay @21 :Float32;
+  dpSlowOnCurve @22 :Bool;
+  dpAllowGas @23 :Bool;
+  dpMaxCtrlSpeed @24 :Float32;
+  dpLeadCarAlert @25 :Bool;
+  dpDynamicFollow @26 :UInt8;
+  dpAccelProfile @27 :UInt8;
+  dpDriverMonitor @28 :Bool;
+  dpSteeringMonitor @29 :Bool;
+  dpSteeringMonitorTimer @30 :UInt8;
+  dpGearCheck @31 :Bool;
+  dpDrivingUi @32 :Bool;
+  dpUiScreenOffReversing @33 :Bool;
+  dpUiScreenOffDriving @34 :Bool;
+  dpUiSpeed @35 :Bool;
+  dpUiEvent @36 :Bool;
+  dpUiMaxSpeed @37 :Bool;
+  dpUiFace @38 :Bool;
+  dpUiLane @39 :Bool;
+  dpUiPath @40 :Bool;
+  dpUiLead @41 :Bool;
+  dpUiDev @42 :Bool;
+  dpUiDevMini @43 :Bool;
+  dpUiBlinker @44 :Bool;
+  dpUiBrightness @45 :UInt8;
+  dpUiVolumeBoost @46 :Int8;
+  dpAppAutoUpdate @47 :Bool;
+  dpAppExtGps @48 :Bool;
+  dpAppTomtom @49 :Bool;
+  dpAppTomtomAuto @50 :Bool;
+  dpAppTomtomManual @51 :Int8;
+  dpAppAutonavi @52 :Bool;
+  dpAppAutonaviAuto @53 :Bool;
+  dpAppAutonaviManual @54 :Int8;
+  dpAppAegis @55 :Bool;
+  dpAppAegisAuto @56 :Bool;
+  dpAppAegisManual @57 :Int8;
+  dpAppMixplorer @58 :Bool;
+  dpAppMixplorerManual @59 :Int8;
+  dpCarDetected @60 :Text;
+  dpToyotaLdw @61 :Bool;
+  dpToyotaSng @62 :Bool;
+  dpToyotaLowestCruiseOverride @63 :Bool;
+  dpToyotaLowestCruiseOverrideVego @64 :Bool;
+  dpToyotaLowestCruiseOverrideAt @65 :Float32;
+  dpToyotaLowestCruiseOverrideSpeed @66 :Float32;
+  dpIpAddr @67 :Text;
+  dpCameraOffset @68 :Int8;
+  dpLocale @69 :Text;
+  dpChargingCtrl @70 :Bool;
+  dpChargingAt @71 :UInt8;
+  dpDischargingAt @72 :UInt8;
+  dpIsUpdating @73 :Bool;
+  dpTimebombAssist @74 :Bool;
+}

cereal/service_list.yaml

@@ -81,6 +81,8 @@ wideEncodeIdx: [8075, true, 20.]
 wideFrame: [8076, true, 20.]
 modelV2: [8077, true, 20., 20]
 
+dragonConf: [8088, false, 2.]
+
 testModel: [8040, false, 0.]
 testLiveLocation: [8045, false, 0.]
 testJoystick: [8056, false, 0.]

common/dp_common.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python3.7
+import subprocess
+from cereal import car
+from common.params import Params
+from common.realtime import sec_since_boot
+import os
+params = Params()
+PARAM_PATH = "/data/params/d/"
+LAST_MODIFIED = PARAM_PATH + "dp_last_modified"
+
+def is_online():
+  try:
+    return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
+  except ProcessLookupError:
+    return False
+
+def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego):
+  if enabled:
+    if (dragonconf.dpSteeringOnSignal and blinker_on) or not dragonconf.dpLatCtrl:
+      steer_req = 0 if isinstance(steer_req, int) else False
+  return steer_req
+
+def common_interface_atl(ret, atl):
+  # dp
+  enable_acc = ret.cruiseState.enabled
+  if atl and ret.cruiseState.available:
+    enable_acc = True
+    if ret.gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park]:
+      enable_acc = False
+    if ret.seatbeltUnlatched or ret.doorOpen:
+      enable_acc = False
+  return enable_acc
+
+def common_interface_get_params_lqr(ret):
+  if params.get('dp_lqr') == b'1':
+    ret.lateralTuning.init('lqr')
+    ret.lateralTuning.lqr.scale = 1500.0
+    ret.lateralTuning.lqr.ki = 0.05
+
+    ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
+    ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+    ret.lateralTuning.lqr.c = [1., 0.]
+    ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
+    ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
+    ret.lateralTuning.lqr.dcGain = 0.002237852961363602
+  return ret
+
+
+def get_last_modified(delay, old_check, old_modified):
+  new_check = sec_since_boot()
+  if old_check is None or new_check - old_check >= delay:
+    return new_check, os.stat(LAST_MODIFIED).st_mtime
+  else:
+    return old_check, old_modified
+
+def param_get_if_updated(param, type, old_val, old_modified):
+  try:
+    modified = os.stat(PARAM_PATH + param).st_mtime
+  except OSError:
+    return old_val, old_modified
+  if old_modified != modified:
+    new_val = param_get(param, type, old_val)
+    new_modified = modified
+  else:
+    new_val = old_val
+    new_modified = old_modified
+  return new_val, new_modified
+
+def param_get(param_name, type, default):
+  try:
+    val = params.get(param_name, encoding='utf8').rstrip('\x00')
+    if type == 'bool':
+      val = val == '1'
+    elif type == 'int':
+      val = int(val)
+    elif type == 'float':
+      val = float(val)
+  except (TypeError, ValueError):
+    val = default
+  return val