from cereal import car
from selfdrive . car import make_can_msg
GearShifter = car . CarState . GearShifter
VisualAlert = car . CarControl . HUDControl . VisualAlert
def create_lkas_hud ( packer , gear , lkas_active , hud_alert , hud_count , lkas_car_model ) :
# LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
if hud_alert == VisualAlert . steerRequired :
msg = b ' \x00 \x00 \x00 \x03 \x00 \x00 \x00 \x00 '
return make_can_msg ( 0x2a6 , msg , 0 )
color = 1 # default values are for park or neutral in 2017 are 0 0, but trying 1 1 for 2019
lines = 1
alerts = 0
if hud_count < ( 1 * 4 ) : # first 3 seconds, 4Hz
alerts = 1
# CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
# had color = 1 and lines = 1 but trying 2017 hybrid style for now.
if gear in ( GearShifter . drive , GearShifter . reverse , GearShifter . low ) :
if lkas_active :
color = 2 # control active, display green.
lines = 6
else :
color = 1 # control off, display white.
lines = 1
values = {
" LKAS_ICON_COLOR " : color , # byte 0, last 2 bits
" CAR_MODEL " : lkas_car_model , # byte 1
" LKAS_LANE_LINES " : lines , # byte 2, last 4 bits
" LKAS_ALERTS " : alerts , # byte 3, last 4 bits
}
return packer . make_can_msg ( " LKAS_HUD " , 0 , values ) # 0x2a6
def create_lkas_command ( packer , apply_steer , moving_fast , frame ) :
# LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel.
values = {
" LKAS_STEERING_TORQUE " : apply_steer ,
" LKAS_HIGH_TORQUE " : int ( moving_fast ) ,
" COUNTER " : frame % 0x10 ,
}
return packer . make_can_msg ( " LKAS_COMMAND " , 0 , values )
def create_wheel_buttons ( packer , frame , cancel = False ) :
# WHEEL_BUTTONS (571) Message sent to cancel ACC.
values = {
" ACC_CANCEL " : cancel ,
" COUNTER " : frame % 10
}
return packer . make_can_msg ( " WHEEL_BUTTONS " , 0 , values )
