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40 lines
1.2 KiB
40 lines
1.2 KiB
from cereal import car
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from opendbc.can.parser import CANParser
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from openpilot.selfdrive.car.interfaces import CarStateBase
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from openpilot.selfdrive.car.body.values import DBC
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STARTUP_TICKS = 100
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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.fl = cp.vl['MOTORS_DATA']['SPEED_L']
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ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R']
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ret.vEgoRaw = ((ret.wheelSpeeds.fl + ret.wheelSpeeds.fr) / 2.) * self.CP.wheelSpeedFactor
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = False
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ret.steerFaultPermanent = any([cp.vl['VAR_VALUES']['MOTOR_ERR_L'], cp.vl['VAR_VALUES']['MOTOR_ERR_R'],
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cp.vl['VAR_VALUES']['FAULT']])
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ret.charging = cp.vl["BODY_DATA"]["CHARGER_CONNECTED"] == 1
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ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100
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# irrelevant for non-car
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ret.gearShifter = car.CarState.GearShifter.drive
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ret.cruiseState.enabled = True
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ret.cruiseState.available = True
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return ret
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@staticmethod
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def get_can_parser(CP):
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messages = [
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("MOTORS_DATA", 100),
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("VAR_VALUES", 10),
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("BODY_DATA", 1),
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]
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return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
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