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from cereal import car
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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def calc_checksum(data):
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"""This function does not want the checksum byte in the input data.
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jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf
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"""
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end_index = len(data)
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index = 0
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checksum = 0xFF
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getting ready for Python 3 (#619)
* tabs to spaces
python 2 to 3: https://portingguide.readthedocs.io/en/latest/syntax.html#tabs-and-spaces
* use the new except syntax
python 2 to 3: https://portingguide.readthedocs.io/en/latest/exceptions.html#the-new-except-syntax
* make relative imports absolute
python 2 to 3: https://portingguide.readthedocs.io/en/latest/imports.html#absolute-imports
* Queue renamed to queue in python 3
Use the six compatibility library to support both python 2 and 3: https://portingguide.readthedocs.io/en/latest/stdlib-reorg.html#renamed-modules
* replace dict.has_key() with in
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#removed-dict-has-key
* make dict views compatible with python 3
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#dict-views-and-iterators
Where needed, wrapping things that will be a view in python 3 with a list(). For example, if it's accessed with []
Python 3 has no iter*() methods, so just using the values() instead of itervalues() as long as it's not too performance intensive. Note that any minor performance hit of using a list instead of a view will go away when switching to python 3. If it is intensive, we could use the six version.
* Explicitly use truncating division
python 2 to 3: https://portingguide.readthedocs.io/en/latest/numbers.html#division
python 3 treats / as float division. When we want the result to be an integer, use //
* replace map() with list comprehension where a list result is needed.
In python 3, map() returns an iterator.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* replace filter() with list comprehension
In python 3, filter() returns an interatoooooooooooor.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* wrap zip() in list() where we need the result to be a list
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-zip
* clean out some lint
Removes these pylint warnings:
************* Module selfdrive.car.chrysler.chryslercan
W: 15, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 16, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 25, 0: Unnecessary semicolon (unnecessary-semicolon)
************* Module common.dbc
W:101, 0: Anomalous backslash in string: '\?'. String constant might be missing an r prefix. (anomalous-backslash-in-string)
************* Module selfdrive.car.gm.interface
R:102, 6: Redefinition of ret.minEnableSpeed type from float to int (redefined-variable-type)
R:103, 6: Redefinition of ret.mass type from int to float (redefined-variable-type)
************* Module selfdrive.updated
R: 20, 6: Redefinition of r type from int to str (redefined-variable-type)
6 years ago
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temp_chk = 0
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bit_sum = 0
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if(end_index <= index):
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return False
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for index in range(0, end_index):
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shift = 0x80
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curr = data[index]
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iterate = 8
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while(iterate > 0):
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iterate -= 1
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getting ready for Python 3 (#619)
* tabs to spaces
python 2 to 3: https://portingguide.readthedocs.io/en/latest/syntax.html#tabs-and-spaces
* use the new except syntax
python 2 to 3: https://portingguide.readthedocs.io/en/latest/exceptions.html#the-new-except-syntax
* make relative imports absolute
python 2 to 3: https://portingguide.readthedocs.io/en/latest/imports.html#absolute-imports
* Queue renamed to queue in python 3
Use the six compatibility library to support both python 2 and 3: https://portingguide.readthedocs.io/en/latest/stdlib-reorg.html#renamed-modules
* replace dict.has_key() with in
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#removed-dict-has-key
* make dict views compatible with python 3
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#dict-views-and-iterators
Where needed, wrapping things that will be a view in python 3 with a list(). For example, if it's accessed with []
Python 3 has no iter*() methods, so just using the values() instead of itervalues() as long as it's not too performance intensive. Note that any minor performance hit of using a list instead of a view will go away when switching to python 3. If it is intensive, we could use the six version.
* Explicitly use truncating division
python 2 to 3: https://portingguide.readthedocs.io/en/latest/numbers.html#division
python 3 treats / as float division. When we want the result to be an integer, use //
* replace map() with list comprehension where a list result is needed.
In python 3, map() returns an iterator.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* replace filter() with list comprehension
In python 3, filter() returns an interatoooooooooooor.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* wrap zip() in list() where we need the result to be a list
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-zip
* clean out some lint
Removes these pylint warnings:
************* Module selfdrive.car.chrysler.chryslercan
W: 15, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 16, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 25, 0: Unnecessary semicolon (unnecessary-semicolon)
************* Module common.dbc
W:101, 0: Anomalous backslash in string: '\?'. String constant might be missing an r prefix. (anomalous-backslash-in-string)
************* Module selfdrive.car.gm.interface
R:102, 6: Redefinition of ret.minEnableSpeed type from float to int (redefined-variable-type)
R:103, 6: Redefinition of ret.mass type from int to float (redefined-variable-type)
************* Module selfdrive.updated
R: 20, 6: Redefinition of r type from int to str (redefined-variable-type)
6 years ago
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bit_sum = curr & shift
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temp_chk = checksum & 0x80
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if (bit_sum != 0):
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bit_sum = 0x1C
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if (temp_chk != 0):
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bit_sum = 1
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checksum = checksum << 1
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temp_chk = checksum | 1
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bit_sum ^= temp_chk
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else:
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if (temp_chk != 0):
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bit_sum = 0x1D
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checksum = checksum << 1
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bit_sum ^= checksum
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checksum = bit_sum
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shift = shift >> 1
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return ~checksum & 0xFF
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def make_can_msg(addr, dat):
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return [addr, 0, dat, 0]
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def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
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# LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
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if hud_alert == VisualAlert.steerRequired:
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msg = '0000000300000000'.decode('hex')
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return make_can_msg(0x2a6, msg)
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color = 1 # default values are for park or neutral in 2017 are 0 0, but trying 1 1 for 2019
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lines = 1
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alerts = 0
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if hud_count < (1 *4): # first 3 seconds, 4Hz
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alerts = 1
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# CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
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# had color = 1 and lines = 1 but trying 2017 hybrid style for now.
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if gear in ('drive', 'reverse', 'low'):
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if lkas_active:
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color = 2 # control active, display green.
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lines = 6
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else:
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color = 1 # control off, display white.
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lines = 1
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values = {
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"LKAS_ICON_COLOR": color, # byte 0, last 2 bits
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"CAR_MODEL": lkas_car_model, # byte 1
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"LKAS_LANE_LINES": lines, # byte 2, last 4 bits
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"LKAS_ALERTS": alerts, # byte 3, last 4 bits
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}
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return packer.make_can_msg("LKAS_HUD", 0, values) # 0x2a6
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def create_lkas_command(packer, apply_steer, moving_fast, frame):
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# LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel.
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values = {
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"LKAS_STEERING_TORQUE": apply_steer,
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"LKAS_HIGH_TORQUE": int(moving_fast),
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"COUNTER": frame % 0x10,
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}
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dat = packer.make_can_msg("LKAS_COMMAND", 0, values)[2]
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dat = [ord(i) for i in dat][:-1]
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checksum = calc_checksum(dat)
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values["CHECKSUM"] = checksum
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return packer.make_can_msg("LKAS_COMMAND", 0, values)
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def create_wheel_buttons(frame):
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# WHEEL_BUTTONS (571) Message sent to cancel ACC.
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start = [0x01] # acc cancel set
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counter = (frame % 10) << 4
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dat = start + [counter]
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dat = dat + [calc_checksum(dat)]
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return make_can_msg(0x23b, str(bytearray(dat)))
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