openpilot_comma/selfdrive/car/chrysler/carstate.py

from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD

def get_can_parser(CP):

  signals = [
    # sig_name, sig_address, default
    ("PRNDL", "GEAR", 0),
    ("DOOR_OPEN_FL", "DOORS", 0),
    ("DOOR_OPEN_FR", "DOORS", 0),
    ("DOOR_OPEN_RL", "DOORS", 0),
    ("DOOR_OPEN_RR", "DOORS", 0),
    ("BRAKE_PRESSED_2", "BRAKE_2", 0),
    ("ACCEL_134", "ACCEL_GAS_134", 0),
    ("SPEED_LEFT", "SPEED_1", 0),
    ("SPEED_RIGHT", "SPEED_1", 0),
    ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
    ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
    ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
    ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
    ("STEER_ANGLE", "STEERING", 0),
    ("STEERING_RATE", "STEERING", 0),
    ("TURN_SIGNALS", "STEERING_LEVERS", 0),
    ("ACC_STATUS_2", "ACC_2", 0),
    ("HIGH_BEAM_FLASH", "STEERING_LEVERS", 0),
    ("ACC_SPEED_CONFIG_KPH", "DASHBOARD", 0),
    ("TORQUE_DRIVER", "EPS_STATUS", 0),
    ("TORQUE_MOTOR", "EPS_STATUS", 0),
    ("LKAS_STATE", "EPS_STATUS", 1),
    ("COUNTER", "EPS_STATUS", -1),
    ("TRACTION_OFF", "TRACTION_BUTTON", 0),
    ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS", 0),
    ("COUNTER", "WHEEL_BUTTONS", -1),  # incrementing counter for 23b
  ]

  # It's considered invalid if it is not received for 10x the expected period (1/f).
  checks = [
    # sig_address, frequency
    ("BRAKE_2", 50),
    ("EPS_STATUS", 100),
    ("SPEED_1", 100),
    ("WHEEL_SPEEDS", 50),
    ("STEERING", 100),
    ("ACC_2", 50),
  ]

  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)

def get_camera_parser(CP):
  signals = [
    # sig_name, sig_address, default
    # TODO read in all the other values
    ("COUNTER", "LKAS_COMMAND", -1),
    ("CAR_MODEL", "LKAS_HUD", -1),
    ("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
  ]
  checks = []

  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)


class CarState(CarStateBase):
  def __init__(self, CP):
    super().__init__(CP)
    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
    self.shifter_values = can_define.dv["GEAR"]['PRNDL']

  def update(self, cp, cp_cam):

    # update prevs, update must run once per loop
    self.prev_left_blinker_on = self.left_blinker_on
    self.prev_right_blinker_on = self.right_blinker_on

    self.frame_23b = int(cp.vl["WHEEL_BUTTONS"]['COUNTER'])
    self.frame = int(cp.vl["EPS_STATUS"]['COUNTER'])

    self.door_all_closed = not any([cp.vl["DOORS"]['DOOR_OPEN_FL'],
                                    cp.vl["DOORS"]['DOOR_OPEN_FR'],
                                    cp.vl["DOORS"]['DOOR_OPEN_RL'],
                                    cp.vl["DOORS"]['DOOR_OPEN_RR']])
    self.seatbelt = (cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_UNLATCHED'] == 0)

    self.brake_pressed = cp.vl["BRAKE_2"]['BRAKE_PRESSED_2'] == 5 # human-only
    self.pedal_gas = cp.vl["ACCEL_GAS_134"]['ACCEL_134']
    self.esp_disabled = (cp.vl["TRACTION_BUTTON"]['TRACTION_OFF'] == 1)

    self.v_wheel_fl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FL']
    self.v_wheel_rr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RR']
    self.v_wheel_rl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RL']
    self.v_wheel_fr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FR']
    self.v_ego_raw = (cp.vl['SPEED_1']['SPEED_LEFT'] + cp.vl['SPEED_1']['SPEED_RIGHT']) / 2.

    self.v_ego, self.a_ego = self.update_speed_kf(self.v_ego_raw)
    self.standstill = not self.v_ego_raw > 0.001

    self.angle_steers = cp.vl["STEERING"]['STEER_ANGLE']
    self.angle_steers_rate = cp.vl["STEERING"]['STEERING_RATE']
    self.gear_shifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl['GEAR']['PRNDL'], None))
    self.main_on = cp.vl["ACC_2"]['ACC_STATUS_2'] == 7  # ACC is green.
    self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
    self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2

    self.steer_torque_driver = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
    self.steer_torque_motor = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
    self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
    steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"]
    self.steer_error = steer_state == 4 or (steer_state == 0 and self.v_ego > self.CP.minSteerSpeed)

    self.user_brake = 0
    self.brake_lights = self.brake_pressed
    self.v_cruise_pcm = cp.vl["DASHBOARD"]['ACC_SPEED_CONFIG_KPH']
    self.pcm_acc_status = self.main_on

    self.generic_toggle = bool(cp.vl["STEERING_LEVERS"]['HIGH_BEAM_FLASH'])

    self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]['COUNTER']
    self.lkas_car_model = cp_cam.vl["LKAS_HUD"]['CAR_MODEL']
    self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]['LKAS_STATUS_OK']