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CANParser: remove rest of default values (#23676)

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* forgot honda somehow!

* forgot some more signal defaults
old-commit-hash: 61de3788ff
commatwo_master
Shane Smiskol 3 years ago committed by GitHub
parent c491f3fc2c
commit 4864a65f5e
8 changed files with 77 additions and 87 deletions
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  1. 1
      selfdrive/car/gm/carstate.py
  2. 123
      selfdrive/car/honda/carstate.py
  3. 1
      selfdrive/car/hyundai/carstate.py
  4. 1
      selfdrive/car/mazda/carstate.py
  5. 1
      selfdrive/car/nissan/carstate.py
  6. 1
      selfdrive/car/subaru/carstate.py
  7. 34
      selfdrive/car/toyota/carstate.py
  8. 2
      selfdrive/car/volkswagen/carstate.py

1
selfdrive/car/gm/carstate.py
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@ -78,7 +78,6 @@ class CarState(CarStateBase):
@staticmethod @staticmethod
def get_can_parser(CP): def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [ signals = [
# sig_name, sig_address # sig_name, sig_address
("BrakePedalPosition", "EBCMBrakePedalPosition"), ("BrakePedalPosition", "EBCMBrakePedalPosition"),

123
selfdrive/car/honda/carstate.py
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@ -11,34 +11,33 @@ TransmissionType = car.CarParams.TransmissionType
def get_can_signals(CP, gearbox_msg, main_on_sig_msg): def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
# this function generates lists for signal, messages and initial values
signals = [ signals = [
("XMISSION_SPEED", "ENGINE_DATA", 0), ("XMISSION_SPEED", "ENGINE_DATA"),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0), ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0), ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0), ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0), ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
("STEER_ANGLE", "STEERING_SENSORS", 0), ("STEER_ANGLE", "STEERING_SENSORS"),
("STEER_ANGLE_RATE", "STEERING_SENSORS", 0), ("STEER_ANGLE_RATE", "STEERING_SENSORS"),
("MOTOR_TORQUE", "STEER_MOTOR_TORQUE", 0), ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE"),
("STEER_TORQUE_SENSOR", "STEER_STATUS", 0), ("STEER_TORQUE_SENSOR", "STEER_STATUS"),
("LEFT_BLINKER", "SCM_FEEDBACK", 0), ("LEFT_BLINKER", "SCM_FEEDBACK"),
("RIGHT_BLINKER", "SCM_FEEDBACK", 0), ("RIGHT_BLINKER", "SCM_FEEDBACK"),
("GEAR", gearbox_msg, 0), ("GEAR", gearbox_msg),
("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1), ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS"),
("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0), ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS"),
("BRAKE_PRESSED", "POWERTRAIN_DATA", 0), ("BRAKE_PRESSED", "POWERTRAIN_DATA"),
("BRAKE_SWITCH", "POWERTRAIN_DATA", 0), ("BRAKE_SWITCH", "POWERTRAIN_DATA"),
("CRUISE_BUTTONS", "SCM_BUTTONS", 0), ("CRUISE_BUTTONS", "SCM_BUTTONS"),
("ESP_DISABLED", "VSA_STATUS", 1), ("ESP_DISABLED", "VSA_STATUS"),
("USER_BRAKE", "VSA_STATUS", 0), ("USER_BRAKE", "VSA_STATUS"),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0), ("BRAKE_HOLD_ACTIVE", "VSA_STATUS"),
("STEER_STATUS", "STEER_STATUS", 5), ("STEER_STATUS", "STEER_STATUS"),
("GEAR_SHIFTER", gearbox_msg, 0), ("GEAR_SHIFTER", gearbox_msg),
("PEDAL_GAS", "POWERTRAIN_DATA", 0), ("PEDAL_GAS", "POWERTRAIN_DATA"),
("CRUISE_SETTING", "SCM_BUTTONS", 0), ("CRUISE_SETTING", "SCM_BUTTONS"),
("ACC_STATUS", "POWERTRAIN_DATA", 0), ("ACC_STATUS", "POWERTRAIN_DATA"),
("MAIN_ON", main_on_sig_msg, 0), ("MAIN_ON", main_on_sig_msg),
] ]
checks = [ checks = [
@ -70,13 +69,13 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
checks.append((gearbox_msg, 100)) checks.append((gearbox_msg, 100))
if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL: if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
signals.append(("BRAKE_PRESSED", "BRAKE_MODULE", 0)) signals.append(("BRAKE_PRESSED", "BRAKE_MODULE"))
checks.append(("BRAKE_MODULE", 50)) checks.append(("BRAKE_MODULE", 50))
if CP.carFingerprint in HONDA_BOSCH: if CP.carFingerprint in HONDA_BOSCH:
signals += [ signals += [
("EPB_STATE", "EPB_STATUS", 0), ("EPB_STATE", "EPB_STATUS"),
("IMPERIAL_UNIT", "CAR_SPEED", 1), ("IMPERIAL_UNIT", "CAR_SPEED"),
] ]
checks += [ checks += [
("EPB_STATUS", 50), ("EPB_STATUS", 50),
@ -85,18 +84,18 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
if not CP.openpilotLongitudinalControl: if not CP.openpilotLongitudinalControl:
signals += [ signals += [
("CRUISE_CONTROL_LABEL", "ACC_HUD", 0), ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
("CRUISE_SPEED", "ACC_HUD", 0), ("CRUISE_SPEED", "ACC_HUD"),
("ACCEL_COMMAND", "ACC_CONTROL", 0), ("ACCEL_COMMAND", "ACC_CONTROL"),
("AEB_STATUS", "ACC_CONTROL", 0), ("AEB_STATUS", "ACC_CONTROL"),
] ]
checks += [ checks += [
("ACC_HUD", 10), ("ACC_HUD", 10),
("ACC_CONTROL", 50), ("ACC_CONTROL", 50),
] ]
else: # Nidec signals else: # Nidec signals
signals += [("CRUISE_SPEED_PCM", "CRUISE", 0), signals += [("CRUISE_SPEED_PCM", "CRUISE"),
("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)] ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS")]
if CP.carFingerprint == CAR.ODYSSEY_CHN: if CP.carFingerprint == CAR.ODYSSEY_CHN:
checks.append(("CRUISE_PARAMS", 10)) checks.append(("CRUISE_PARAMS", 10))
@ -104,44 +103,44 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
checks.append(("CRUISE_PARAMS", 50)) checks.append(("CRUISE_PARAMS", 50))
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E): if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)) signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
elif CP.carFingerprint == CAR.ODYSSEY_CHN: elif CP.carFingerprint == CAR.ODYSSEY_CHN:
signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)) signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
elif CP.carFingerprint in (CAR.FREED, CAR.HRV): elif CP.carFingerprint in (CAR.FREED, CAR.HRV):
signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1), signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"),
("WHEELS_MOVING", "STANDSTILL", 1)] ("WHEELS_MOVING", "STANDSTILL")]
else: else:
signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1), signals += [("DOOR_OPEN_FL", "DOORS_STATUS"),
("DOOR_OPEN_FR", "DOORS_STATUS", 1), ("DOOR_OPEN_FR", "DOORS_STATUS"),
("DOOR_OPEN_RL", "DOORS_STATUS", 1), ("DOOR_OPEN_RL", "DOORS_STATUS"),
("DOOR_OPEN_RR", "DOORS_STATUS", 1), ("DOOR_OPEN_RR", "DOORS_STATUS"),
("WHEELS_MOVING", "STANDSTILL", 1)] ("WHEELS_MOVING", "STANDSTILL")]
checks += [ checks += [
("DOORS_STATUS", 3), ("DOORS_STATUS", 3),
("STANDSTILL", 50), ("STANDSTILL", 50),
] ]
if CP.carFingerprint == CAR.CIVIC: if CP.carFingerprint == CAR.CIVIC:
signals += [("IMPERIAL_UNIT", "HUD_SETTING", 0), signals += [("IMPERIAL_UNIT", "HUD_SETTING"),
("EPB_STATE", "EPB_STATUS", 0)] ("EPB_STATE", "EPB_STATUS")]
checks += [ checks += [
("HUD_SETTING", 50), ("HUD_SETTING", 50),
("EPB_STATUS", 50), ("EPB_STATUS", 50),
] ]
elif CP.carFingerprint in (CAR.ODYSSEY, CAR.ODYSSEY_CHN): elif CP.carFingerprint in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
signals.append(("EPB_STATE", "EPB_STATUS", 0)) signals.append(("EPB_STATE", "EPB_STATUS"))
checks.append(("EPB_STATUS", 50)) checks.append(("EPB_STATUS", 50))
# add gas interceptor reading if we are using it # add gas interceptor reading if we are using it
if CP.enableGasInterceptor: if CP.enableGasInterceptor:
signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0)) signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR"))
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0)) signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR"))
checks.append(("GAS_SENSOR", 50)) checks.append(("GAS_SENSOR", 50))
if CP.openpilotLongitudinalControl: if CP.openpilotLongitudinalControl:
signals += [ signals += [
("BRAKE_ERROR_1", "STANDSTILL", 1), ("BRAKE_ERROR_1", "STANDSTILL"),
("BRAKE_ERROR_2", "STANDSTILL", 1) ("BRAKE_ERROR_2", "STANDSTILL")
] ]
checks.append(("STANDSTILL", 50)) checks.append(("STANDSTILL", 50))
@ -325,14 +324,14 @@ class CarState(CarStateBase):
] ]
if CP.carFingerprint not in HONDA_BOSCH: if CP.carFingerprint not in HONDA_BOSCH:
signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND", 0), signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"),
("AEB_REQ_1", "BRAKE_COMMAND", 0), ("AEB_REQ_1", "BRAKE_COMMAND"),
("FCW", "BRAKE_COMMAND", 0), ("FCW", "BRAKE_COMMAND"),
("CHIME", "BRAKE_COMMAND", 0), ("CHIME", "BRAKE_COMMAND"),
("FCM_OFF", "ACC_HUD", 0), ("FCM_OFF", "ACC_HUD"),
("FCM_OFF_2", "ACC_HUD", 0), ("FCM_OFF_2", "ACC_HUD"),
("FCM_PROBLEM", "ACC_HUD", 0), ("FCM_PROBLEM", "ACC_HUD"),
("ICONS", "ACC_HUD", 0)] ("ICONS", "ACC_HUD")]
checks += [ checks += [
("ACC_HUD", 10), ("ACC_HUD", 10),
("BRAKE_COMMAND", 50), ("BRAKE_COMMAND", 50),
@ -343,8 +342,8 @@ class CarState(CarStateBase):
@staticmethod @staticmethod
def get_body_can_parser(CP): def get_body_can_parser(CP):
if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G: if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G:
signals = [("BSM_ALERT", "BSM_STATUS_RIGHT", 0), signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"),
("BSM_ALERT", "BSM_STATUS_LEFT", 0)] ("BSM_ALERT", "BSM_STATUS_LEFT")]
checks = [ checks = [
("BSM_STATUS_LEFT", 3), ("BSM_STATUS_LEFT", 3),

1
selfdrive/car/hyundai/carstate.py
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@ -253,7 +253,6 @@ class CarState(CarStateBase):
@staticmethod @staticmethod
def get_cam_can_parser(CP): def get_cam_can_parser(CP):
signals = [ signals = [
# sig_name, sig_address # sig_name, sig_address
("CF_Lkas_LdwsActivemode", "LKAS11"), ("CF_Lkas_LdwsActivemode", "LKAS11"),

1
selfdrive/car/mazda/carstate.py
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@ -104,7 +104,6 @@ class CarState(CarStateBase):
@staticmethod @staticmethod
def get_can_parser(CP): def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [ signals = [
# sig_name, sig_address # sig_name, sig_address
("LEFT_BLINK", "BLINK_INFO"), ("LEFT_BLINK", "BLINK_INFO"),

1
selfdrive/car/nissan/carstate.py
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@ -119,7 +119,6 @@ class CarState(CarStateBase):
@staticmethod @staticmethod
def get_can_parser(CP): def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [ signals = [
# sig_name, sig_address # sig_name, sig_address
("WHEEL_SPEED_FL", "WHEEL_SPEEDS_FRONT"), ("WHEEL_SPEED_FL", "WHEEL_SPEEDS_FRONT"),

1
selfdrive/car/subaru/carstate.py
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@ -77,7 +77,6 @@ class CarState(CarStateBase):
@staticmethod @staticmethod
def get_can_parser(CP): def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [ signals = [
# sig_name, sig_address # sig_name, sig_address
("Steer_Torque_Sensor", "Steering_Torque"), ("Steer_Torque_Sensor", "Steering_Torque"),

34
selfdrive/car/toyota/carstate.py
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@ -127,7 +127,6 @@ class CarState(CarStateBase):
@staticmethod @staticmethod
def get_can_parser(CP): def get_can_parser(CP):
signals = [ signals = [
# sig_name, sig_address # sig_name, sig_address
("STEER_ANGLE", "STEER_ANGLE_SENSOR"), ("STEER_ANGLE", "STEER_ANGLE_SENSOR"),
@ -172,34 +171,34 @@ class CarState(CarStateBase):
] ]
if CP.flags & ToyotaFlags.HYBRID: if CP.flags & ToyotaFlags.HYBRID:
signals.append(("GAS_PEDAL", "GAS_PEDAL_HYBRID", 0)) signals.append(("GAS_PEDAL", "GAS_PEDAL_HYBRID"))
checks.append(("GAS_PEDAL_HYBRID", 33)) checks.append(("GAS_PEDAL_HYBRID", 33))
else: else:
signals.append(("GAS_PEDAL", "GAS_PEDAL", 0)) signals.append(("GAS_PEDAL", "GAS_PEDAL"))
checks.append(("GAS_PEDAL", 33)) checks.append(("GAS_PEDAL", 33))
if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC): if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
signals.append(("MAIN_ON", "DSU_CRUISE", 0)) signals.append(("MAIN_ON", "DSU_CRUISE"))
signals.append(("SET_SPEED", "DSU_CRUISE", 0)) signals.append(("SET_SPEED", "DSU_CRUISE"))
checks.append(("DSU_CRUISE", 5)) checks.append(("DSU_CRUISE", 5))
else: else:
signals.append(("MAIN_ON", "PCM_CRUISE_2", 0)) signals.append(("MAIN_ON", "PCM_CRUISE_2"))
signals.append(("SET_SPEED", "PCM_CRUISE_2", 0)) signals.append(("SET_SPEED", "PCM_CRUISE_2"))
signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0)) signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2"))
checks.append(("PCM_CRUISE_2", 33)) checks.append(("PCM_CRUISE_2", 33))
# add gas interceptor reading if we are using it # add gas interceptor reading if we are using it
if CP.enableGasInterceptor: if CP.enableGasInterceptor:
signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0)) signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR"))
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0)) signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR"))
checks.append(("GAS_SENSOR", 50)) checks.append(("GAS_SENSOR", 50))
if CP.enableBsm: if CP.enableBsm:
signals += [ signals += [
("L_ADJACENT", "BSM", 0), ("L_ADJACENT", "BSM"),
("L_APPROACHING", "BSM", 0), ("L_APPROACHING", "BSM"),
("R_ADJACENT", "BSM", 0), ("R_ADJACENT", "BSM"),
("R_APPROACHING", "BSM", 0), ("R_APPROACHING", "BSM"),
] ]
checks.append(("BSM", 1)) checks.append(("BSM", 1))
@ -207,10 +206,9 @@ class CarState(CarStateBase):
@staticmethod @staticmethod
def get_cam_can_parser(CP): def get_cam_can_parser(CP):
signals = [ signals = [
("FORCE", "PRE_COLLISION", 0), ("FORCE", "PRE_COLLISION"),
("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0), ("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
] ]
# use steering message to check if panda is connected to frc # use steering message to check if panda is connected to frc
@ -220,7 +218,7 @@ class CarState(CarStateBase):
] ]
if CP.carFingerprint in TSS2_CAR: if CP.carFingerprint in TSS2_CAR:
signals.append(("ACC_TYPE", "ACC_CONTROL", 0)) signals.append(("ACC_TYPE", "ACC_CONTROL"))
checks.append(("ACC_CONTROL", 33)) checks.append(("ACC_CONTROL", 33))
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)

2
selfdrive/car/volkswagen/carstate.py
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@ -147,7 +147,6 @@ class CarState(CarStateBase):
@staticmethod @staticmethod
def get_can_parser(CP): def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [ signals = [
# sig_name, sig_address # sig_name, sig_address
("LWI_Lenkradwinkel", "LWI_01"), # Absolute steering angle ("LWI_Lenkradwinkel", "LWI_01"), # Absolute steering angle
@ -234,7 +233,6 @@ class CarState(CarStateBase):
@staticmethod @staticmethod
def get_cam_can_parser(CP): def get_cam_can_parser(CP):
signals = [] signals = []
checks = [] checks = []

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