You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
101 lines
3.6 KiB
101 lines
3.6 KiB
6 years ago
|
#!/usr/bin/env python3
|
||
|
|
import time
|
||
|
|
import cereal.messaging as messaging
|
||
|
|
from opendbc.can.parser import CANParser
|
||
|
|
from opendbc.can.packer import CANPacker
|
||
|
|
from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
|
||
|
|
from selfdrive.car.honda.values import FINGERPRINTS, CAR
|
||
|
|
from selfdrive.car import crc8_pedal
|
||
|
|
|
||
|
|
from selfdrive.test.longitudinal_maneuvers.plant import get_car_can_parser
|
||
|
|
cp = get_car_can_parser()
|
||
|
|
#cp = CANParser("honda_civic_touring_2016_can_generated")
|
||
|
|
|
||
|
|
packer = CANPacker("honda_civic_touring_2016_can_generated")
|
||
|
|
rpacker = CANPacker("acura_ilx_2016_nidec")
|
||
|
|
|
||
|
|
def can_function(pm, speed, angle, idx, engage):
|
||
|
|
msg = []
|
||
|
|
msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}, idx))
|
||
|
|
msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0,
|
||
|
|
{"WHEEL_SPEED_FL": speed,
|
||
|
|
"WHEEL_SPEED_FR": speed,
|
||
|
|
"WHEEL_SPEED_RL": speed,
|
||
|
|
"WHEEL_SPEED_RR": speed}, -1))
|
||
|
|
|
||
|
|
if engage:
|
||
|
|
msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": 3}, idx))
|
||
|
|
else:
|
||
|
|
msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": 0}, idx))
|
||
|
|
|
||
|
|
values = {"COUNTER_PEDAL": idx&0xF}
|
||
|
|
checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx&0xF}, -1)[2][:-1])
|
||
|
|
values["CHECKSUM_PEDAL"] = checksum
|
||
|
|
msg.append(packer.make_can_msg("GAS_SENSOR", 0, values, -1))
|
||
|
|
|
||
|
|
msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}, idx))
|
||
|
|
msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}, idx))
|
||
|
|
msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}, idx))
|
||
|
|
msg.append(packer.make_can_msg("STEER_STATUS", 0, {}, idx))
|
||
|
|
msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}, idx))
|
||
|
|
msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {}, idx))
|
||
|
|
msg.append(packer.make_can_msg("VSA_STATUS", 0, {}, idx))
|
||
|
|
msg.append(packer.make_can_msg("STANDSTILL", 0, {}, idx))
|
||
|
|
msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}, idx))
|
||
|
|
msg.append(packer.make_can_msg("EPB_STATUS", 0, {}, idx))
|
||
|
|
msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}, idx))
|
||
|
|
msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}, idx))
|
||
|
|
msg.append(packer.make_can_msg("CRUISE", 0, {}, idx))
|
||
|
|
msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx))
|
||
|
|
#print(msg)
|
||
|
|
|
||
|
|
# cam bus
|
||
|
|
msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))
|
||
|
|
msg.append(packer.make_can_msg("ACC_HUD", 2, {}, idx))
|
||
|
|
msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}, idx))
|
||
|
|
|
||
|
|
# radar
|
||
|
|
if idx%5 == 0:
|
||
|
|
msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}, -1))
|
||
|
|
for i in range(16):
|
||
|
|
msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}, -1))
|
||
|
|
|
||
|
|
# fill in the rest for fingerprint
|
||
|
|
done = set([x[0] for x in msg])
|
||
|
|
for k,v in FINGERPRINTS[CAR.CIVIC][0].items():
|
||
|
|
if k not in done and k not in [0xE4, 0x194]:
|
||
|
|
msg.append([k, 0, b'\x00'*v, 0])
|
||
|
|
pm.send('can', can_list_to_can_capnp(msg))
|
||
|
|
|
||
|
|
def sendcan_function(sendcan):
|
||
|
|
sc = messaging.drain_sock_raw(sendcan)
|
||
|
|
cp.update_strings(sc, sendcan=True)
|
||
|
|
|
||
|
|
if cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']:
|
||
|
|
brake = cp.vl[0x1fa]['COMPUTER_BRAKE'] * 0.003906248
|
||
|
|
else:
|
||
|
|
brake = 0.0
|
||
|
|
|
||
|
|
if cp.vl[0x200]['GAS_COMMAND'] > 0:
|
||
|
|
gas = cp.vl[0x200]['GAS_COMMAND'] / 256.0
|
||
|
|
else:
|
||
|
|
gas = 0.0
|
||
|
|
|
||
|
|
if cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
|
||
|
|
steer_torque = cp.vl[0xe4]['STEER_TORQUE']*1.0/0x1000
|
||
|
|
else:
|
||
|
|
steer_torque = 0.0
|
||
|
|
|
||
|
|
return (gas, brake, steer_torque)
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
pm = messaging.PubMaster(['can'])
|
||
|
|
sendcan = messaging.sub_sock('sendcan')
|
||
|
|
idx = 0
|
||
|
|
while 1:
|
||
|
|
sendcan_function(sendcan)
|
||
|
|
can_function(pm, 10.0, idx)
|
||
|
|
time.sleep(0.01)
|
||
|
|
idx += 1
|
||
|
|
|