Codex/test changan rlog implementation#278
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dakexiaoxu wants to merge 83 commits intoajouatom:c3-v9from
Closed
Codex/test changan rlog implementation#278dakexiaoxu wants to merge 83 commits intoajouatom:c3-v9from
dakexiaoxu wants to merge 83 commits intoajouatom:c3-v9from
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120-115
* Fix Changan code using DAS reference data - Fixed STEER_MAX from 480 to 900 - Fixed ANGLE_LIMITS configuration (180 deg max, correct rate profiles) - Updated MAX_STEERING_ANGLE to 180.0 - Added QIYUAN_A05 and QIYUAN_A07 car models - Fixed interface.py parameters (steerActuatorDelay=0.12, steerLimitTimer=1.0) - Updated carstate.py to handle different gear signals for QIYUAN_A05 - Added comprehensive FW_VERSIONS data from DAS reference (170+ firmware versions) Agent-Logs-Url: https://github.com/jixiexiaoge/openpilot/sessions/ed9e5d78-1e14-4ae0-8dd0-ba002978b273 Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com> * Add comprehensive code fix report for Changan improvements Agent-Logs-Url: https://github.com/jixiexiaoge/openpilot/sessions/ed9e5d78-1e14-4ae0-8dd0-ba002978b273 Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com> --------- Co-authored-by: anthropic-code-agent[bot] <242468646+Claude@users.noreply.github.com> Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com>
- Update max_angle from 4760 to 1800 (180.0° * 10)
- Update angle_rate_up_lookup breakpoints from {0,5,15} to {0,10,20}
- Update angle_rate_up_lookup values from {5,0.8,0.15} to {5,1.4,0.15}
- Update angle_rate_down_lookup breakpoints from {0,5,15} to {0,10,20}
- Update angle_rate_down_lookup values from {5,3.5,0.4} to {5,1.4,0.26}
These changes align with the updates made to opendbc/car/changan/values.py
based on DAS reference data, ensuring safety limits match the car controller
implementation.
Agent-Logs-Url: https://github.com/jixiexiaoge/openpilot/sessions/7dacaea9-2d9a-4ecb-bdef-8bafcea0d97b
Co-authored-by: anthropic-code-agent[bot] <242468646+Claude@users.noreply.github.com>
Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com>
…rontRatio (#39) Agent-Logs-Url: https://github.com/jixiexiaoge/openpilot/sessions/ec0486aa-40ac-4527-96eb-d8154b68b896 Co-authored-by: anthropic-code-agent[bot] <242468646+Claude@users.noreply.github.com> Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com>
* Add Changan rlog testing script with basic functionality Agent-Logs-Url: https://github.com/jixiexiaoge/openpilot/sessions/c7971435-305a-4da8-a09e-e846ee6b6a9c Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com> * Add README documentation for Changan rlog testing script Agent-Logs-Url: https://github.com/jixiexiaoge/openpilot/sessions/c7971435-305a-4da8-a09e-e846ee6b6a9c Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com> * Add example usage script for Changan rlog testing Agent-Logs-Url: https://github.com/jixiexiaoge/openpilot/sessions/c7971435-305a-4da8-a09e-e846ee6b6a9c Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com> --------- Co-authored-by: anthropic-code-agent[bot] <242468646+Claude@users.noreply.github.com> Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com>
Agent-Logs-Url: https://github.com/jixiexiaoge/openpilot/sessions/cc01f0a2-3003-43e1-9679-ac24e9293906 Co-authored-by: anthropic-code-agent[bot] <242468646+Claude@users.noreply.github.com> Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com>
- Implement actual CAN signal parsing using CarState with CarParams initialization - Add comprehensive signal range validation for all DBC-defined signals - Track signal statistics (min, max, mean, std) for all important signals - Add counter continuity validation for all rolling counters (0x17E, 0x1BA, 0x244, 0x307, 0x31A) - Test CarController message generation with checksum validation - Validate control message completeness (steering, EPS, ACC, cruise, HUD) - Add detailed signal statistics organized by category - Generate comprehensive test report with signal coverage metrics - Provide clear pass/fail indication for on-vehicle testing readiness Agent-Logs-Url: https://github.com/jixiexiaoge/openpilot/sessions/9994c9b6-cf54-496d-81a6-1d3f9c4afa68 Co-authored-by: anthropic-code-agent[bot] <242468646+Claude@users.noreply.github.com> Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com>
The script was incorrectly calling CarInterface(None, None, None) which fails because CarInterfaceBase.__init__() only takes 2 positional arguments (self and CP). Fixed by using the classmethod CarInterface.get_non_essential_params() to properly get CarParams for the fingerprint, which can then be used to initialize other components like CarState. This fixes the TypeError that prevented testing Z6_IDD rlog data. Co-authored-by: anthropic-code-agent[bot] <242468646+Claude@users.noreply.github.com> Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com>
Z6 and Z6_IDD use changan.dbc which has gear info in GW_331/TCU_GearForDisplay, not in GEAR/gearShifter. The previous code incorrectly tried to access GEAR message for Z6_IDD which doesn't exist in changan.dbc, causing a KeyError. This fix: - Updates __init__ to use GW_331/TCU_GearForDisplay for Z6/Z6_IDD - Updates update() to read gear from correct message per car model - Updates get_can_parsers() to subscribe to correct gear message The mapping is now: - Z6/Z6_IDD: GW_331/TCU_GearForDisplay (changan.dbc) - A05/A07: GEAR/gearShifter (changan_can.dbc) Co-authored-by: anthropic-code-agent[bot] <242468646+Claude@users.noreply.github.com> Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com>
The changan.dbc file has TCU_GearForDisplay in both GW_331 (0x331) and GW_338 (0x338), but the VAL_ value definitions reference message 824 (GW_338). CANDefine creates enum values based on VAL_ lines, so it only creates the shifter_values dictionary for GW_338, not GW_331. This fixes the KeyError: 'GW_331' by changing all references from GW_331 to GW_338 in carstate.py for Z6/Z6_IDD models. 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-authored-by: anthropic-code-agent[bot] <242468646+Claude@users.noreply.github.com> Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com>
Agent-Logs-Url: https://github.com/jixiexiaoge/openpilot/sessions/fc3c3374-e2b8-4b77-9f47-f1606c852347 Co-authored-by: anthropic-code-agent[bot] <242468646+Claude@users.noreply.github.com> Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com>
- Z6 uses GW_331 for TCU_GearForDisplay - Z6_IDD uses GW_338 for TCU_GearForDisplay - Fixes test failures by matching reference code pattern Based on reference code (carstate.py.1shot.das) bytecode analysis Co-authored-by: anthropic-code-agent[bot] <242468646+Claude@users.noreply.github.com> Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com>
Agent-Logs-Url: https://github.com/jixiexiaoge/openpilot/sessions/130e4e8d-73e1-4025-be2e-7725ffd5fbe1 Co-authored-by: anthropic-code-agent[bot] <242468646+Claude@users.noreply.github.com> Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com>
Agent-Logs-Url: https://github.com/jixiexiaoge/openpilot/sessions/3082b588-f8f2-4e56-9ee5-e8252b3cb2a1 Co-authored-by: anthropic-code-agent[bot] <242468646+Claude@users.noreply.github.com> Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com>
…arName field (#51) Agent-Logs-Url: https://github.com/jixiexiaoge/openpilot/sessions/a861427a-d362-4997-8c42-a97b1cbb54fd Co-authored-by: anthropic-code-agent[bot] <242468646+Claude@users.noreply.github.com> Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com>
Co-authored-by: jixiexiaoge <128568434+jixiexiaoge@users.noreply.github.com>
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