import copy
import crcmod
from selfdrive . car . nissan . values import CAR
# TODO: add this checksum to the CANPacker
nissan_checksum = crcmod . mkCrcFun ( 0x11d , initCrc = 0x00 , rev = False , xorOut = 0xff )
def create_steering_control ( packer , apply_steer , frame , steer_on , lkas_max_torque ) :
values = {
" COUNTER " : frame % 0x10 ,
" DESIRED_ANGLE " : apply_steer ,
" SET_0x80_2 " : 0x80 ,
" SET_0x80 " : 0x80 ,
" MAX_TORQUE " : lkas_max_torque if steer_on else 0 ,
" LKA_ACTIVE " : steer_on ,
}
dat = packer . make_can_msg ( " LKAS " , 0 , values ) [ 2 ]
values [ " CHECKSUM " ] = nissan_checksum ( dat [ : 7 ] )
return packer . make_can_msg ( " LKAS " , 0 , values )
def create_acc_cancel_cmd ( packer , car_fingerprint , cruise_throttle_msg ) :
values = copy . copy ( cruise_throttle_msg )
can_bus = 1 if car_fingerprint == CAR . ALTIMA else 2
values [ " CANCEL_BUTTON " ] = 1
values [ " NO_BUTTON_PRESSED " ] = 0
values [ " PROPILOT_BUTTON " ] = 0
values [ " SET_BUTTON " ] = 0
values [ " RES_BUTTON " ] = 0
values [ " FOLLOW_DISTANCE_BUTTON " ] = 0
return packer . make_can_msg ( " CRUISE_THROTTLE " , can_bus , values )
def create_cancel_msg ( packer , cancel_msg , cruise_cancel ) :
values = copy . copy ( cancel_msg )
if cruise_cancel :
values [ " CANCEL_SEATBELT " ] = 1
return packer . make_can_msg ( " CANCEL_MSG " , 2 , values )
def create_lkas_hud_msg ( packer , lkas_hud_msg , enabled , left_line , right_line , left_lane_depart , right_lane_depart ) :
values = lkas_hud_msg
values [ " RIGHT_LANE_YELLOW_FLASH " ] = 1 if right_lane_depart else 0
values [ " LEFT_LANE_YELLOW_FLASH " ] = 1 if left_lane_depart else 0
values [ " LARGE_STEERING_WHEEL_ICON " ] = 2 if enabled else 0
values [ " RIGHT_LANE_GREEN " ] = 1 if right_line and enabled else 0
values [ " LEFT_LANE_GREEN " ] = 1 if left_line and enabled else 0
return packer . make_can_msg ( " PROPILOT_HUD " , 0 , values )
def create_lkas_hud_info_msg ( packer , lkas_hud_info_msg , steer_hud_alert ) :
values = lkas_hud_info_msg
if steer_hud_alert :
values [ " HANDS_ON_WHEEL_WARNING " ] = 1
return packer . make_can_msg ( " PROPILOT_HUD_INFO_MSG " , 0 , values )
