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71 lines
1.8 KiB
71 lines
1.8 KiB
from cereal import car
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from selfdrive.car.chrysler.values import RAM_CARS
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GearShifter = car.CarState.GearShifter
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
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# LKAS_HUD - Controls what lane-keeping icon is displayed
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# == Color ==
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# 0 hidden?
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# 1 white
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# 2 green
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# 3 ldw
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# == Lines ==
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# 03 white Lines
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# 04 grey lines
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# 09 left lane close
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# 0A right lane close
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# 0B left Lane very close
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# 0C right Lane very close
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# 0D left cross cross
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# 0E right lane cross
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# == Alerts ==
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# 7 Normal
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# 6 lane departure place hands on wheel
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color = 2 if lkas_active else 1
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lines = 3 if lkas_active else 0
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alerts = 7 if lkas_active else 0
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if hud_count < (1 * 4): # first 3 seconds, 4Hz
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alerts = 1
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if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
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color = 4
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lines = 0
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alerts = 6
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values = {
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"LKAS_ICON_COLOR": color,
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"CAR_MODEL": car_model,
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"LKAS_LANE_LINES": lines,
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"LKAS_ALERTS": alerts,
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}
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if CP.carFingerprint in RAM_CARS:
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values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
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return packer.make_can_msg("DAS_6", 0, values)
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def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
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# LKAS_COMMAND Lane-keeping signal to turn the wheel
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enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
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values = {
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"STEERING_TORQUE": apply_steer,
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"LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
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}
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return packer.make_can_msg("LKAS_COMMAND", 0, values)
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def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
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values = {
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"ACC_Cancel": cancel,
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"ACC_Resume": resume,
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"COUNTER": frame % 0x10,
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}
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return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
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