openpilot_comma/tools/sim/lib/can.py

#!/usr/bin/env python3
import cereal.messaging as messaging
from opendbc.can.packer import CANPacker
from opendbc.can.parser import CANParser
from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp  # pylint: disable=no-name-in-module,import-error
from selfdrive.car.honda.values import FINGERPRINTS, CAR
from selfdrive.car import crc8_pedal

packer = CANPacker("honda_civic_touring_2016_can_generated")
rpacker = CANPacker("acura_ilx_2016_nidec")


def get_car_can_parser():
  dbc_f = 'honda_civic_touring_2016_can_generated'
  signals = [
    ("STEER_TORQUE", 0xe4, 0),
    ("STEER_TORQUE_REQUEST", 0xe4, 0),
    ("COMPUTER_BRAKE", 0x1fa, 0),
    ("COMPUTER_BRAKE_REQUEST", 0x1fa, 0),
    ("GAS_COMMAND", 0x200, 0),
  ]
  checks = [
    (0xe4, 100),
    (0x1fa, 50),
    (0x200, 50),
  ]
  return CANParser(dbc_f, signals, checks, 0)
cp = get_car_can_parser()

def can_function(pm, speed, angle, idx, cruise_button, is_engaged):

  msg = []

  # *** powertrain bus ***

  speed = speed * 3.6 # convert m/s to kph
  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))

  msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}, 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("VSA_STATUS", 0, {}, idx))
  msg.append(packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if speed >= 1.0 else 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))
  msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx))

  # *** 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 bus ***
  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'] / 1024.
  else:
    brake = 0.0

  if cp.vl[0x200]['GAS_COMMAND'] > 0:
    gas = ( cp.vl[0x200]['GAS_COMMAND'] + 83.3 ) / (0.253984064 * 2**16)
  else:
    gas = 0.0

  if cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
    steer_torque = cp.vl[0xe4]['STEER_TORQUE']/3840
  else:
    steer_torque = 0.0

  return gas, brake, steer_torque