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58 lines
2.5 KiB
58 lines
2.5 KiB
from cereal import car
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from opendbc.can.parser import CANParser
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from common.numpy_fast import mean
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from selfdrive.config import Conversions as CV
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from selfdrive.car.interfaces import CarStateBase
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from selfdrive.car.ford.values import DBC
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WHEEL_RADIUS = 0.33
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class CarState(CarStateBase):
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def update(self, cp):
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ret = car.CarState.new_message()
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ret.wheelSpeeds = self.get_wheel_speeds(
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cp.vl["WheelSpeed_CG1"]["WhlFl_W_Meas"],
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cp.vl["WheelSpeed_CG1"]["WhlFr_W_Meas"],
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cp.vl["WheelSpeed_CG1"]["WhlRl_W_Meas"],
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cp.vl["WheelSpeed_CG1"]["WhlRr_W_Meas"],
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unit=WHEEL_RADIUS,
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)
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ret.vEgoRaw = mean([ret.wheelSpeeds.rr, ret.wheelSpeeds.rl, ret.wheelSpeeds.fr, ret.wheelSpeeds.fl])
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = not ret.vEgoRaw > 0.001
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ret.steeringAngleDeg = cp.vl["Steering_Wheel_Data_CG1"]["SteWhlRelInit_An_Sns"]
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ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]["LaHandsOff_B_Actl"]
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ret.steerError = cp.vl["Lane_Keep_Assist_Status"]["LaActDeny_B_Actl"] == 1
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ret.cruiseState.speed = cp.vl["Cruise_Status"]["Set_Speed"] * CV.MPH_TO_MS
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ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]["Cruise_State"] in (0, 3))
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ret.cruiseState.available = cp.vl["Cruise_Status"]["Cruise_State"] != 0
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ret.gas = cp.vl["EngineData_14"]["ApedPosScal_Pc_Actl"] / 100.
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ret.gasPressed = ret.gas > 1e-6
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ret.brakePressed = bool(cp.vl["Cruise_Status"]["Brake_Drv_Appl"])
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ret.genericToggle = bool(cp.vl["Steering_Buttons"]["Dist_Incr"])
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# TODO: we also need raw driver torque, needed for Assisted Lane Change
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self.lkas_state = cp.vl["Lane_Keep_Assist_Status"]["LaActAvail_D_Actl"]
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return ret
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@staticmethod
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def get_can_parser(CP):
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signals = [
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# sig_name, sig_address
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("WhlRr_W_Meas", "WheelSpeed_CG1"),
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("WhlRl_W_Meas", "WheelSpeed_CG1"),
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("WhlFr_W_Meas", "WheelSpeed_CG1"),
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("WhlFl_W_Meas", "WheelSpeed_CG1"),
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("SteWhlRelInit_An_Sns", "Steering_Wheel_Data_CG1"),
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("Cruise_State", "Cruise_Status"),
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("Set_Speed", "Cruise_Status"),
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("LaActAvail_D_Actl", "Lane_Keep_Assist_Status"),
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("LaHandsOff_B_Actl", "Lane_Keep_Assist_Status"),
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("LaActDeny_B_Actl", "Lane_Keep_Assist_Status"),
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("ApedPosScal_Pc_Actl", "EngineData_14"),
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("Dist_Incr", "Steering_Buttons"),
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("Brake_Drv_Appl", "Cruise_Status"),
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]
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checks = []
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0, enforce_checks=False)
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