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92 lines
2.7 KiB
92 lines
2.7 KiB
def create_steering_control(packer, bus, apply_steer, lkas_enabled):
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values = {
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"LM_Offset": abs(apply_steer),
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"LM_OffSign": 1 if apply_steer < 0 else 0,
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"HCA_Status": 5 if (lkas_enabled and apply_steer != 0) else 3,
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"Vib_Freq": 16,
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}
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return packer.make_can_msg("HCA_1", bus, values)
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def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
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values = ldw_stock_values.copy()
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values.update({
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"LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0,
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"LDW_Lampe_gruen": 1 if enabled and not steering_pressed else 0,
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"LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
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"LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
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"LDW_Textbits": hud_alert,
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})
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return packer.make_can_msg("LDW_Status", bus, values)
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def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False):
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values = gra_stock_values.copy()
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values.update({
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"COUNTER": counter,
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"GRA_Abbrechen": cancel,
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"GRA_Recall": resume,
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})
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return packer.make_can_msg("GRA_Neu", bus, values)
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def acc_control_value(main_switch_on, acc_faulted, long_active):
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if long_active:
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acc_control = 1
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elif main_switch_on:
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acc_control = 2
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else:
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acc_control = 0
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return acc_control
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def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
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if acc_faulted:
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hud_status = 6
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elif long_active:
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hud_status = 3
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elif main_switch_on:
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hud_status = 2
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else:
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hud_status = 0
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return hud_status
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def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
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commands = []
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values = {
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"ACS_Sta_ADR": acc_control,
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"ACS_StSt_Info": acc_enabled,
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"ACS_Typ_ACC": acc_type,
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"ACS_Anhaltewunsch": acc_type == 1 and stopping,
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"ACS_FreigSollB": acc_enabled,
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"ACS_Sollbeschl": accel if acc_enabled else 3.01,
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"ACS_zul_Regelabw": 0.2 if acc_enabled else 1.27,
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"ACS_max_AendGrad": 3.0 if acc_enabled else 5.08,
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}
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commands.append(packer.make_can_msg("ACC_System", bus, values))
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return commands
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def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance):
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values = {
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"ACA_StaACC": acc_hud_status,
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"ACA_Zeitluecke": 2,
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"ACA_V_Wunsch": set_speed,
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"ACA_gemZeitl": lead_distance,
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"ACA_PrioDisp": 3,
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# TODO: restore dynamic pop-to-foreground/highlight behavior with ACA_PrioDisp and ACA_AnzDisplay
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# TODO: ACA_kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
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}
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return packer.make_can_msg("ACC_GRA_Anzeige", bus, values)
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