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91 lines
3.4 KiB
91 lines
3.4 KiB
#!/usr/bin/env python3
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import cereal.messaging as messaging
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from opendbc.can.packer import CANPacker
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from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
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from selfdrive.car.honda.values import FINGERPRINTS, CAR
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from selfdrive.car import crc8_pedal
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import math
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from selfdrive.test.longitudinal_maneuvers.plant import get_car_can_parser
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cp = get_car_can_parser()
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packer = CANPacker("honda_civic_touring_2016_can_generated")
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rpacker = CANPacker("acura_ilx_2016_nidec")
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SR = 7.5
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def angle_to_sangle(angle):
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return - math.degrees(angle) * SR
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def can_function(pm, speed, angle, idx, cruise_button=0, is_engaged=False):
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msg = []
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msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}, idx))
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msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0,
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{"WHEEL_SPEED_FL": speed,
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"WHEEL_SPEED_FR": speed,
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"WHEEL_SPEED_RL": speed,
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"WHEEL_SPEED_RR": speed}, -1))
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msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}, idx))
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values = {"COUNTER_PEDAL": idx&0xF}
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checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx&0xF}, -1)[2][:-1])
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values["CHECKSUM_PEDAL"] = checksum
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msg.append(packer.make_can_msg("GAS_SENSOR", 0, values, -1))
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msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}, idx))
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msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}, idx))
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msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}, idx))
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msg.append(packer.make_can_msg("STEER_STATUS", 0, {}, idx))
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msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE":angle_to_sangle(angle)}, idx))
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msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {}, idx))
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msg.append(packer.make_can_msg("VSA_STATUS", 0, {}, idx))
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msg.append(packer.make_can_msg("STANDSTILL", 0, {}, idx))
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msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}, idx))
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msg.append(packer.make_can_msg("EPB_STATUS", 0, {}, idx))
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msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}, idx))
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msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}, idx))
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msg.append(packer.make_can_msg("CRUISE", 0, {}, idx))
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msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx))
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msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx))
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#print(msg)
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# cam bus
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msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))
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msg.append(packer.make_can_msg("ACC_HUD", 2, {}, idx))
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msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}, idx))
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# radar
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if idx%5 == 0:
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msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}, -1))
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for i in range(16):
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msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}, -1))
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# fill in the rest for fingerprint
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done = set([x[0] for x in msg])
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for k,v in FINGERPRINTS[CAR.CIVIC][0].items():
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if k not in done and k not in [0xE4, 0x194]:
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msg.append([k, 0, b'\x00'*v, 0])
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pm.send('can', can_list_to_can_capnp(msg))
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def sendcan_function(sendcan):
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sc = messaging.drain_sock_raw(sendcan)
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cp.update_strings(sc, sendcan=True)
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if cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']:
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brake = cp.vl[0x1fa]['COMPUTER_BRAKE'] * 0.003906248
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else:
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brake = 0.0
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if cp.vl[0x200]['GAS_COMMAND'] > 0:
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gas = cp.vl[0x200]['GAS_COMMAND'] / 256.0
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else:
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gas = 0.0
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if cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
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steer_torque = cp.vl[0xe4]['STEER_TORQUE']*1.0/0x1000
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else:
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steer_torque = 0.0
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return (gas, brake, steer_torque)
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