diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 9742560923..134bd9d075 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -78,7 +78,6 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - # this function generates lists for signal, messages and initial values signals = [ # sig_name, sig_address ("BrakePedalPosition", "EBCMBrakePedalPosition"), diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index cbb5e9b82a..d1907a9d22 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -11,34 +11,33 @@ TransmissionType = car.CarParams.TransmissionType def get_can_signals(CP, gearbox_msg, main_on_sig_msg): - # this function generates lists for signal, messages and initial values signals = [ - ("XMISSION_SPEED", "ENGINE_DATA", 0), - ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0), - ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0), - ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0), - ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0), - ("STEER_ANGLE", "STEERING_SENSORS", 0), - ("STEER_ANGLE_RATE", "STEERING_SENSORS", 0), - ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE", 0), - ("STEER_TORQUE_SENSOR", "STEER_STATUS", 0), - ("LEFT_BLINKER", "SCM_FEEDBACK", 0), - ("RIGHT_BLINKER", "SCM_FEEDBACK", 0), - ("GEAR", gearbox_msg, 0), - ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1), - ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0), - ("BRAKE_PRESSED", "POWERTRAIN_DATA", 0), - ("BRAKE_SWITCH", "POWERTRAIN_DATA", 0), - ("CRUISE_BUTTONS", "SCM_BUTTONS", 0), - ("ESP_DISABLED", "VSA_STATUS", 1), - ("USER_BRAKE", "VSA_STATUS", 0), - ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0), - ("STEER_STATUS", "STEER_STATUS", 5), - ("GEAR_SHIFTER", gearbox_msg, 0), - ("PEDAL_GAS", "POWERTRAIN_DATA", 0), - ("CRUISE_SETTING", "SCM_BUTTONS", 0), - ("ACC_STATUS", "POWERTRAIN_DATA", 0), - ("MAIN_ON", main_on_sig_msg, 0), + ("XMISSION_SPEED", "ENGINE_DATA"), + ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"), + ("STEER_ANGLE", "STEERING_SENSORS"), + ("STEER_ANGLE_RATE", "STEERING_SENSORS"), + ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE"), + ("STEER_TORQUE_SENSOR", "STEER_STATUS"), + ("LEFT_BLINKER", "SCM_FEEDBACK"), + ("RIGHT_BLINKER", "SCM_FEEDBACK"), + ("GEAR", gearbox_msg), + ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS"), + ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS"), + ("BRAKE_PRESSED", "POWERTRAIN_DATA"), + ("BRAKE_SWITCH", "POWERTRAIN_DATA"), + ("CRUISE_BUTTONS", "SCM_BUTTONS"), + ("ESP_DISABLED", "VSA_STATUS"), + ("USER_BRAKE", "VSA_STATUS"), + ("BRAKE_HOLD_ACTIVE", "VSA_STATUS"), + ("STEER_STATUS", "STEER_STATUS"), + ("GEAR_SHIFTER", gearbox_msg), + ("PEDAL_GAS", "POWERTRAIN_DATA"), + ("CRUISE_SETTING", "SCM_BUTTONS"), + ("ACC_STATUS", "POWERTRAIN_DATA"), + ("MAIN_ON", main_on_sig_msg), ] checks = [ @@ -70,13 +69,13 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): checks.append((gearbox_msg, 100)) 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)) if CP.carFingerprint in HONDA_BOSCH: signals += [ - ("EPB_STATE", "EPB_STATUS", 0), - ("IMPERIAL_UNIT", "CAR_SPEED", 1), + ("EPB_STATE", "EPB_STATUS"), + ("IMPERIAL_UNIT", "CAR_SPEED"), ] checks += [ ("EPB_STATUS", 50), @@ -85,18 +84,18 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): if not CP.openpilotLongitudinalControl: signals += [ - ("CRUISE_CONTROL_LABEL", "ACC_HUD", 0), - ("CRUISE_SPEED", "ACC_HUD", 0), - ("ACCEL_COMMAND", "ACC_CONTROL", 0), - ("AEB_STATUS", "ACC_CONTROL", 0), + ("CRUISE_CONTROL_LABEL", "ACC_HUD"), + ("CRUISE_SPEED", "ACC_HUD"), + ("ACCEL_COMMAND", "ACC_CONTROL"), + ("AEB_STATUS", "ACC_CONTROL"), ] checks += [ ("ACC_HUD", 10), ("ACC_CONTROL", 50), ] else: # Nidec signals - signals += [("CRUISE_SPEED_PCM", "CRUISE", 0), - ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)] + signals += [("CRUISE_SPEED_PCM", "CRUISE"), + ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS")] if CP.carFingerprint == CAR.ODYSSEY_CHN: 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)) 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: - signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)) + signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS")) elif CP.carFingerprint in (CAR.FREED, CAR.HRV): - signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1), - ("WHEELS_MOVING", "STANDSTILL", 1)] + signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"), + ("WHEELS_MOVING", "STANDSTILL")] else: - signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1), - ("DOOR_OPEN_FR", "DOORS_STATUS", 1), - ("DOOR_OPEN_RL", "DOORS_STATUS", 1), - ("DOOR_OPEN_RR", "DOORS_STATUS", 1), - ("WHEELS_MOVING", "STANDSTILL", 1)] + signals += [("DOOR_OPEN_FL", "DOORS_STATUS"), + ("DOOR_OPEN_FR", "DOORS_STATUS"), + ("DOOR_OPEN_RL", "DOORS_STATUS"), + ("DOOR_OPEN_RR", "DOORS_STATUS"), + ("WHEELS_MOVING", "STANDSTILL")] checks += [ ("DOORS_STATUS", 3), ("STANDSTILL", 50), ] if CP.carFingerprint == CAR.CIVIC: - signals += [("IMPERIAL_UNIT", "HUD_SETTING", 0), - ("EPB_STATE", "EPB_STATUS", 0)] + signals += [("IMPERIAL_UNIT", "HUD_SETTING"), + ("EPB_STATE", "EPB_STATUS")] checks += [ ("HUD_SETTING", 50), ("EPB_STATUS", 50), ] 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)) # add gas interceptor reading if we are using it if CP.enableGasInterceptor: - signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0)) - signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0)) + signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR")) + signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR")) checks.append(("GAS_SENSOR", 50)) if CP.openpilotLongitudinalControl: signals += [ - ("BRAKE_ERROR_1", "STANDSTILL", 1), - ("BRAKE_ERROR_2", "STANDSTILL", 1) + ("BRAKE_ERROR_1", "STANDSTILL"), + ("BRAKE_ERROR_2", "STANDSTILL") ] checks.append(("STANDSTILL", 50)) @@ -325,14 +324,14 @@ class CarState(CarStateBase): ] if CP.carFingerprint not in HONDA_BOSCH: - signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND", 0), - ("AEB_REQ_1", "BRAKE_COMMAND", 0), - ("FCW", "BRAKE_COMMAND", 0), - ("CHIME", "BRAKE_COMMAND", 0), - ("FCM_OFF", "ACC_HUD", 0), - ("FCM_OFF_2", "ACC_HUD", 0), - ("FCM_PROBLEM", "ACC_HUD", 0), - ("ICONS", "ACC_HUD", 0)] + signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"), + ("AEB_REQ_1", "BRAKE_COMMAND"), + ("FCW", "BRAKE_COMMAND"), + ("CHIME", "BRAKE_COMMAND"), + ("FCM_OFF", "ACC_HUD"), + ("FCM_OFF_2", "ACC_HUD"), + ("FCM_PROBLEM", "ACC_HUD"), + ("ICONS", "ACC_HUD")] checks += [ ("ACC_HUD", 10), ("BRAKE_COMMAND", 50), @@ -343,8 +342,8 @@ class CarState(CarStateBase): @staticmethod def get_body_can_parser(CP): if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G: - signals = [("BSM_ALERT", "BSM_STATUS_RIGHT", 0), - ("BSM_ALERT", "BSM_STATUS_LEFT", 0)] + signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"), + ("BSM_ALERT", "BSM_STATUS_LEFT")] checks = [ ("BSM_STATUS_LEFT", 3), diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 8da60f1b8f..bdd49e2067 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -253,7 +253,6 @@ class CarState(CarStateBase): @staticmethod def get_cam_can_parser(CP): - signals = [ # sig_name, sig_address ("CF_Lkas_LdwsActivemode", "LKAS11"), diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 1f1a3eafef..8b9fd4f390 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -104,7 +104,6 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - # this function generates lists for signal, messages and initial values signals = [ # sig_name, sig_address ("LEFT_BLINK", "BLINK_INFO"), diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index 856383c34b..6b030e9b45 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -119,7 +119,6 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - # this function generates lists for signal, messages and initial values signals = [ # sig_name, sig_address ("WHEEL_SPEED_FL", "WHEEL_SPEEDS_FRONT"), diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 468f039d1b..1eefb18584 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -77,7 +77,6 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - # this function generates lists for signal, messages and initial values signals = [ # sig_name, sig_address ("Steer_Torque_Sensor", "Steering_Torque"), diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 752bbcedf2..df555abf46 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -127,7 +127,6 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - signals = [ # sig_name, sig_address ("STEER_ANGLE", "STEER_ANGLE_SENSOR"), @@ -172,34 +171,34 @@ class CarState(CarStateBase): ] 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)) else: - signals.append(("GAS_PEDAL", "GAS_PEDAL", 0)) + signals.append(("GAS_PEDAL", "GAS_PEDAL")) checks.append(("GAS_PEDAL", 33)) if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC): - signals.append(("MAIN_ON", "DSU_CRUISE", 0)) - signals.append(("SET_SPEED", "DSU_CRUISE", 0)) + signals.append(("MAIN_ON", "DSU_CRUISE")) + signals.append(("SET_SPEED", "DSU_CRUISE")) checks.append(("DSU_CRUISE", 5)) else: - signals.append(("MAIN_ON", "PCM_CRUISE_2", 0)) - signals.append(("SET_SPEED", "PCM_CRUISE_2", 0)) - signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0)) + signals.append(("MAIN_ON", "PCM_CRUISE_2")) + signals.append(("SET_SPEED", "PCM_CRUISE_2")) + signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2")) checks.append(("PCM_CRUISE_2", 33)) # add gas interceptor reading if we are using it if CP.enableGasInterceptor: - signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0)) - signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0)) + signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR")) + signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR")) checks.append(("GAS_SENSOR", 50)) if CP.enableBsm: signals += [ - ("L_ADJACENT", "BSM", 0), - ("L_APPROACHING", "BSM", 0), - ("R_ADJACENT", "BSM", 0), - ("R_APPROACHING", "BSM", 0), + ("L_ADJACENT", "BSM"), + ("L_APPROACHING", "BSM"), + ("R_ADJACENT", "BSM"), + ("R_APPROACHING", "BSM"), ] checks.append(("BSM", 1)) @@ -207,10 +206,9 @@ class CarState(CarStateBase): @staticmethod def get_cam_can_parser(CP): - signals = [ - ("FORCE", "PRE_COLLISION", 0), - ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0), + ("FORCE", "PRE_COLLISION"), + ("PRECOLLISION_ACTIVE", "PRE_COLLISION"), ] # use steering message to check if panda is connected to frc @@ -220,7 +218,7 @@ class CarState(CarStateBase): ] if CP.carFingerprint in TSS2_CAR: - signals.append(("ACC_TYPE", "ACC_CONTROL", 0)) + signals.append(("ACC_TYPE", "ACC_CONTROL")) checks.append(("ACC_CONTROL", 33)) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 79bd68cd41..1fe8b56b90 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -147,7 +147,6 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - # this function generates lists for signal, messages and initial values signals = [ # sig_name, sig_address ("LWI_Lenkradwinkel", "LWI_01"), # Absolute steering angle @@ -234,7 +233,6 @@ class CarState(CarStateBase): @staticmethod def get_cam_can_parser(CP): - signals = [] checks = []