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CANParser: remove default values (#23642)

Browse Source 
* draft

* remove rest

* bump

* update radar interfaces

* do rest and formatting

* bump

* fix mising check

* try this

* Revert "try this"

This reverts commit 0d26d9a072.

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 3645186d7c
commatwo_master
Shane Smiskol 4 years ago committed by GitHub
parent b45082e61b
commit fadba4b34d
18 changed files with 625 additions and 635 deletions
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  1. 66
      selfdrive/car/chrysler/carstate.py
  2. 31
      selfdrive/car/chrysler/radar_interface.py
  3. 28
      selfdrive/car/ford/carstate.py
  4. 6
      selfdrive/car/ford/radar_interface.py
  5. 57
      selfdrive/car/gm/carstate.py
  6. 19
      selfdrive/car/gm/radar_interface.py
  7. 8
      selfdrive/car/honda/radar_interface.py
  8. 172
      selfdrive/car/hyundai/carstate.py
  9. 12
      selfdrive/car/hyundai/radar_interface.py
  10. 104
      selfdrive/car/mazda/carstate.py
  11. 265
      selfdrive/car/nissan/carstate.py
  12. 168
      selfdrive/car/subaru/carstate.py
  13. 116
      selfdrive/car/tesla/carstate.py
  14. 26
      selfdrive/car/tesla/radar_interface.py
  15. 52
      selfdrive/car/toyota/carstate.py
  16. 8
      selfdrive/car/toyota/radar_interface.py
  17. 120
      selfdrive/car/volkswagen/carstate.py
  18. 2
      selfdrive/test/process_replay/ref_commit

66
selfdrive/car/chrysler/carstate.py
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@ -75,33 +75,33 @@ class CarState(CarStateBase):
@staticmethod
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),
("CRUISE_STATE", "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),
# sig_name, sig_address
("PRNDL", "GEAR"),
("DOOR_OPEN_FL", "DOORS"),
("DOOR_OPEN_FR", "DOORS"),
("DOOR_OPEN_RL", "DOORS"),
("DOOR_OPEN_RR", "DOORS"),
("BRAKE_PRESSED_2", "BRAKE_2"),
("ACCEL_134", "ACCEL_GAS_134"),
("SPEED_LEFT", "SPEED_1"),
("SPEED_RIGHT", "SPEED_1"),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
("STEER_ANGLE", "STEERING"),
("STEERING_RATE", "STEERING"),
("TURN_SIGNALS", "STEERING_LEVERS"),
("ACC_STATUS_2", "ACC_2"),
("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
("CRUISE_STATE", "DASHBOARD"),
("TORQUE_DRIVER", "EPS_STATUS"),
("TORQUE_MOTOR", "EPS_STATUS"),
("LKAS_STATE", "EPS_STATUS"),
("COUNTER", "EPS_STATUS",),
("TRACTION_OFF", "TRACTION_BUTTON"),
("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS"),
]
checks = [
@ -123,8 +123,8 @@ class CarState(CarStateBase):
if CP.enableBsm:
signals += [
("BLIND_SPOT_RIGHT", "BLIND_SPOT_WARNINGS", 0),
("BLIND_SPOT_LEFT", "BLIND_SPOT_WARNINGS", 0),
("BLIND_SPOT_RIGHT", "BLIND_SPOT_WARNINGS"),
("BLIND_SPOT_LEFT", "BLIND_SPOT_WARNINGS"),
]
checks += [("BLIND_SPOT_WARNINGS", 2)]
@ -133,10 +133,10 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
signals = [
# sig_name, sig_address, default
("COUNTER", "LKAS_COMMAND", -1),
("CAR_MODEL", "LKAS_HUD", -1),
("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
# sig_name, sig_address
("COUNTER", "LKAS_COMMAND"),
("CAR_MODEL", "LKAS_HUD"),
("LKAS_STATUS_OK", "LKAS_HEARTBIT")
]
checks = [
("LKAS_COMMAND", 100),

31
selfdrive/car/chrysler/radar_interface.py
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@ -11,30 +11,25 @@ NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
def _create_radar_can_parser(car_fingerprint):
msg_n = len(RADAR_MSGS_C)
# list of [(signal name, message name or number, initial values), (...)]
# [('RADAR_STATE', 1024, 0),
# ('LONG_DIST', 1072, 255),
# ('LONG_DIST', 1073, 255),
# ('LONG_DIST', 1074, 255),
# ('LONG_DIST', 1075, 255),
# list of [(signal name, message name or number), (...)]
# [('RADAR_STATE', 1024),
# ('LONG_DIST', 1072),
# ('LONG_DIST', 1073),
# ('LONG_DIST', 1074),
# ('LONG_DIST', 1075),
# The factor and offset are applied by the dbc parsing library, so the
# default values should be after the factor/offset are applied.
signals = list(zip(['LONG_DIST'] * msg_n +
['LAT_DIST'] * msg_n +
['REL_SPEED'] * msg_n,
RADAR_MSGS_C * 2 + # LONG_DIST, LAT_DIST
RADAR_MSGS_D, # REL_SPEED
[0] * msg_n + # LONG_DIST
[-1000] * msg_n + # LAT_DIST
[-146.278] * msg_n)) # REL_SPEED set to 0, factor/offset to this
['LAT_DIST'] * msg_n +
['REL_SPEED'] * msg_n,
RADAR_MSGS_C * 2 + # LONG_DIST, LAT_DIST
RADAR_MSGS_D)) # REL_SPEED
# TODO what are the checks actually used for?
# honda only checks the last message,
# toyota checks all the messages. Which do we want?
checks = list(zip(RADAR_MSGS_C +
RADAR_MSGS_D,
[20]*msg_n + # 20Hz (0.05s)
[20]*msg_n)) # 20Hz (0.05s)
RADAR_MSGS_D,
[20] * msg_n + # 20Hz (0.05s)
[20] * msg_n)) # 20Hz (0.05s)
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)

28
selfdrive/car/ford/carstate.py
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@ -39,20 +39,20 @@ class CarState(CarStateBase):
@staticmethod
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("WhlRr_W_Meas", "WheelSpeed_CG1", 0.),
("WhlRl_W_Meas", "WheelSpeed_CG1", 0.),
("WhlFr_W_Meas", "WheelSpeed_CG1", 0.),
("WhlFl_W_Meas", "WheelSpeed_CG1", 0.),
("SteWhlRelInit_An_Sns", "Steering_Wheel_Data_CG1", 0.),
("Cruise_State", "Cruise_Status", 0.),
("Set_Speed", "Cruise_Status", 0.),
("LaActAvail_D_Actl", "Lane_Keep_Assist_Status", 0),
("LaHandsOff_B_Actl", "Lane_Keep_Assist_Status", 0),
("LaActDeny_B_Actl", "Lane_Keep_Assist_Status", 0),
("ApedPosScal_Pc_Actl", "EngineData_14", 0.),
("Dist_Incr", "Steering_Buttons", 0.),
("Brake_Drv_Appl", "Cruise_Status", 0.),
# sig_name, sig_address
("WhlRr_W_Meas", "WheelSpeed_CG1"),
("WhlRl_W_Meas", "WheelSpeed_CG1"),
("WhlFr_W_Meas", "WheelSpeed_CG1"),
("WhlFl_W_Meas", "WheelSpeed_CG1"),
("SteWhlRelInit_An_Sns", "Steering_Wheel_Data_CG1"),
("Cruise_State", "Cruise_Status"),
("Set_Speed", "Cruise_Status"),
("LaActAvail_D_Actl", "Lane_Keep_Assist_Status"),
("LaHandsOff_B_Actl", "Lane_Keep_Assist_Status"),
("LaActDeny_B_Actl", "Lane_Keep_Assist_Status"),
("ApedPosScal_Pc_Actl", "EngineData_14"),
("Dist_Incr", "Steering_Buttons"),
("Brake_Drv_Appl", "Cruise_Status"),
]
checks = []
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0, enforce_checks=False)

6
selfdrive/car/ford/radar_interface.py
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@ -7,12 +7,12 @@ from selfdrive.car.interfaces import RadarInterfaceBase
RADAR_MSGS = list(range(0x500, 0x540))
def _create_radar_can_parser(car_fingerprint):
msg_n = len(RADAR_MSGS)
signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
RADAR_MSGS * 3,
[0] * msg_n + [0] * msg_n + [0] * msg_n))
checks = list(zip(RADAR_MSGS, [20]*msg_n))
RADAR_MSGS * 3))
checks = list(zip(RADAR_MSGS, [20] * msg_n))
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)

57
selfdrive/car/gm/carstate.py
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@ -3,8 +3,7 @@ from common.numpy_fast import mean
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
CruiseButtons, STEER_THRESHOLD
from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, STEER_THRESHOLD
class CarState(CarStateBase):
@ -81,31 +80,31 @@ class CarState(CarStateBase):
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("BrakePedalPosition", "EBCMBrakePedalPosition", 0),
("FrontLeftDoor", "BCMDoorBeltStatus", 0),
("FrontRightDoor", "BCMDoorBeltStatus", 0),
("RearLeftDoor", "BCMDoorBeltStatus", 0),
("RearRightDoor", "BCMDoorBeltStatus", 0),
("LeftSeatBelt", "BCMDoorBeltStatus", 0),
("RightSeatBelt", "BCMDoorBeltStatus", 0),
("TurnSignals", "BCMTurnSignals", 0),
("AcceleratorPedal2", "AcceleratorPedal2", 0),
("CruiseState", "AcceleratorPedal2", 0),
("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
("SteeringWheelAngle", "PSCMSteeringAngle", 0),
("SteeringWheelRate", "PSCMSteeringAngle", 0),
("FLWheelSpd", "EBCMWheelSpdFront", 0),
("FRWheelSpd", "EBCMWheelSpdFront", 0),
("RLWheelSpd", "EBCMWheelSpdRear", 0),
("RRWheelSpd", "EBCMWheelSpdRear", 0),
("PRNDL", "ECMPRDNL", 0),
("LKADriverAppldTrq", "PSCMStatus", 0),
("LKATorqueDelivered", "PSCMStatus", 0),
("LKATorqueDeliveredStatus", "PSCMStatus", 0),
("TractionControlOn", "ESPStatus", 0),
("EPBClosed", "EPBStatus", 0),
("CruiseMainOn", "ECMEngineStatus", 0),
# sig_name, sig_address
("BrakePedalPosition", "EBCMBrakePedalPosition"),
("FrontLeftDoor", "BCMDoorBeltStatus"),
("FrontRightDoor", "BCMDoorBeltStatus"),
("RearLeftDoor", "BCMDoorBeltStatus"),
("RearRightDoor", "BCMDoorBeltStatus"),
("LeftSeatBelt", "BCMDoorBeltStatus"),
("RightSeatBelt", "BCMDoorBeltStatus"),
("TurnSignals", "BCMTurnSignals"),
("AcceleratorPedal2", "AcceleratorPedal2"),
("CruiseState", "AcceleratorPedal2"),
("ACCButtons", "ASCMSteeringButton"),
("SteeringWheelAngle", "PSCMSteeringAngle"),
("SteeringWheelRate", "PSCMSteeringAngle"),
("FLWheelSpd", "EBCMWheelSpdFront"),
("FRWheelSpd", "EBCMWheelSpdFront"),
("RLWheelSpd", "EBCMWheelSpdRear"),
("RRWheelSpd", "EBCMWheelSpdRear"),
("PRNDL", "ECMPRDNL"),
("LKADriverAppldTrq", "PSCMStatus"),
("LKATorqueDelivered", "PSCMStatus"),
("LKATorqueDeliveredStatus", "PSCMStatus"),
("TractionControlOn", "ESPStatus"),
("EPBClosed", "EPBStatus"),
("CruiseMainOn", "ECMEngineStatus"),
]
checks = [
@ -126,7 +125,7 @@ class CarState(CarStateBase):
if CP.carFingerprint == CAR.VOLT:
signals += [
("RegenPaddle", "EBCMRegenPaddle", 0),
("RegenPaddle", "EBCMRegenPaddle"),
]
checks += [
("EBCMRegenPaddle", 50),
@ -137,7 +136,7 @@ class CarState(CarStateBase):
@staticmethod
def get_loopback_can_parser(CP):
signals = [
("RollingCounter", "ASCMLKASteeringCmd", 0),
("RollingCounter", "ASCMLKASteeringCmd"),
]
checks = [

19
selfdrive/car/gm/radar_interface.py
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@ -14,6 +14,7 @@ NUM_SLOTS = 20
# messages that are present in DBC
LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
def create_radar_can_parser(car_fingerprint):
if car_fingerprint not in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS, CAR.ESCALADE_ESV):
return None
@ -21,17 +22,13 @@ def create_radar_can_parser(car_fingerprint):
# C1A-ARS3-A by Continental
radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
signals = list(zip(['FLRRNumValidTargets',
'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
[RADAR_HEADER_MSG] * 7 + radar_targets * 6,
[0] * 7 +
[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
[RADAR_HEADER_MSG] * 7 + radar_targets * 6))
checks = list({(s[1], 14) for s in signals})

8
selfdrive/car/honda/radar_interface.py
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@ -4,13 +4,13 @@ from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import RadarInterfaceBase
from selfdrive.car.honda.values import DBC
def _create_nidec_can_parser(car_fingerprint):
radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
signals = list(zip(['RADAR_STATE'] +
['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
['REL_SPEED'] * 16,
[0x400] + radar_messages[1:] * 4,
[0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16))
['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
['REL_SPEED'] * 16,
[0x400] + radar_messages[1:] * 4))
checks = [(s[1], 20) for s in signals]
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)

172
selfdrive/car/hyundai/carstate.py
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@ -120,57 +120,57 @@ class CarState(CarStateBase):
@staticmethod
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("WHL_SPD_FL", "WHL_SPD11", 0),
("WHL_SPD_FR", "WHL_SPD11", 0),
("WHL_SPD_RL", "WHL_SPD11", 0),
("WHL_SPD_RR", "WHL_SPD11", 0),
("YAW_RATE", "ESP12", 0),
("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
("CF_Gway_DrvSeatBeltSw", "CGW1", 0),
("CF_Gway_DrvDrSw", "CGW1", 0), # Driver Door
("CF_Gway_AstDrSw", "CGW1", 0), # Passenger door
("CF_Gway_RLDrSw", "CGW2", 0), # Rear reft door
("CF_Gway_RRDrSw", "CGW2", 0), # Rear right door
("CF_Gway_TurnSigLh", "CGW1", 0),
("CF_Gway_TurnSigRh", "CGW1", 0),
("CF_Gway_ParkBrakeSw", "CGW1", 0),
("CYL_PRES", "ESP12", 0),
("CF_Clu_CruiseSwState", "CLU11", 0),
("CF_Clu_CruiseSwMain", "CLU11", 0),
("CF_Clu_SldMainSW", "CLU11", 0),
("CF_Clu_ParityBit1", "CLU11", 0),
("CF_Clu_VanzDecimal" , "CLU11", 0),
("CF_Clu_Vanz", "CLU11", 0),
("CF_Clu_SPEED_UNIT", "CLU11", 0),
("CF_Clu_DetentOut", "CLU11", 0),
("CF_Clu_RheostatLevel", "CLU11", 0),
("CF_Clu_CluInfo", "CLU11", 0),
("CF_Clu_AmpInfo", "CLU11", 0),
("CF_Clu_AliveCnt1", "CLU11", 0),
("ACCEnable", "TCS13", 0),
("ACC_REQ", "TCS13", 0),
("DriverBraking", "TCS13", 0),
("StandStill", "TCS13", 0),
("PBRAKE_ACT", "TCS13", 0),
("ESC_Off_Step", "TCS15", 0),
("AVH_LAMP", "TCS15", 0),
("CR_Mdps_StrColTq", "MDPS12", 0),
("CF_Mdps_ToiActive", "MDPS12", 0),
("CF_Mdps_ToiUnavail", "MDPS12", 0),
("CF_Mdps_ToiFlt", "MDPS12", 0),
("CR_Mdps_OutTq", "MDPS12", 0),
("SAS_Angle", "SAS11", 0),
("SAS_Speed", "SAS11", 0),
# sig_name, sig_address
("WHL_SPD_FL", "WHL_SPD11"),
("WHL_SPD_FR", "WHL_SPD11"),
("WHL_SPD_RL", "WHL_SPD11"),
("WHL_SPD_RR", "WHL_SPD11"),
("YAW_RATE", "ESP12"),
("CF_Gway_DrvSeatBeltInd", "CGW4"),
("CF_Gway_DrvSeatBeltSw", "CGW1"),
("CF_Gway_DrvDrSw", "CGW1"), # Driver Door
("CF_Gway_AstDrSw", "CGW1"), # Passenger door
("CF_Gway_RLDrSw", "CGW2"), # Rear reft door
("CF_Gway_RRDrSw", "CGW2"), # Rear right door
("CF_Gway_TurnSigLh", "CGW1"),
("CF_Gway_TurnSigRh", "CGW1"),
("CF_Gway_ParkBrakeSw", "CGW1"),
("CYL_PRES", "ESP12"),
("CF_Clu_CruiseSwState", "CLU11"),
("CF_Clu_CruiseSwMain", "CLU11"),
("CF_Clu_SldMainSW", "CLU11"),
("CF_Clu_ParityBit1", "CLU11"),
("CF_Clu_VanzDecimal" , "CLU11"),
("CF_Clu_Vanz", "CLU11"),
("CF_Clu_SPEED_UNIT", "CLU11"),
("CF_Clu_DetentOut", "CLU11"),
("CF_Clu_RheostatLevel", "CLU11"),
("CF_Clu_CluInfo", "CLU11"),
("CF_Clu_AmpInfo", "CLU11"),
("CF_Clu_AliveCnt1", "CLU11"),
("ACCEnable", "TCS13"),
("ACC_REQ", "TCS13"),
("DriverBraking", "TCS13"),
("StandStill", "TCS13"),
("PBRAKE_ACT", "TCS13"),
("ESC_Off_Step", "TCS15"),
("AVH_LAMP", "TCS15"),
("CR_Mdps_StrColTq", "MDPS12"),
("CF_Mdps_ToiActive", "MDPS12"),
("CF_Mdps_ToiUnavail", "MDPS12"),
("CF_Mdps_ToiFlt", "MDPS12"),
("CR_Mdps_OutTq", "MDPS12"),
("SAS_Angle", "SAS11"),
("SAS_Speed", "SAS11"),
]
checks = [
@ -189,11 +189,11 @@ class CarState(CarStateBase):
if not CP.openpilotLongitudinalControl:
signals += [
("MainMode_ACC", "SCC11", 0),
("VSetDis", "SCC11", 0),
("SCCInfoDisplay", "SCC11", 0),
("ACC_ObjDist", "SCC11", 0),
("ACCMode", "SCC12", 1),
("MainMode_ACC", "SCC11"),
("VSetDis", "SCC11"),
("SCCInfoDisplay", "SCC11"),
("ACC_ObjDist", "SCC11"),
("ACCMode", "SCC12"),
]
checks += [
@ -203,39 +203,39 @@ class CarState(CarStateBase):
if CP.carFingerprint in FEATURES["use_fca"]:
signals += [
("FCA_CmdAct", "FCA11", 0),
("CF_VSM_Warn", "FCA11", 0),
("FCA_CmdAct", "FCA11"),
("CF_VSM_Warn", "FCA11"),
]
checks += [("FCA11", 50)]
else:
signals += [
("AEB_CmdAct", "SCC12", 0),
("CF_VSM_Warn", "SCC12", 0),
("AEB_CmdAct", "SCC12"),
("CF_VSM_Warn", "SCC12"),
]
if CP.enableBsm:
signals += [
("CF_Lca_IndLeft", "LCA11", 0),
("CF_Lca_IndRight", "LCA11", 0),
("CF_Lca_IndLeft", "LCA11"),
("CF_Lca_IndRight", "LCA11"),
]
checks += [("LCA11", 50)]
if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
if CP.carFingerprint in HYBRID_CAR:
signals += [
("CR_Vcu_AccPedDep_Pos", "E_EMS11", 0)
("CR_Vcu_AccPedDep_Pos", "E_EMS11")
]
else:
signals += [
("Accel_Pedal_Pos", "E_EMS11", 0)
("Accel_Pedal_Pos", "E_EMS11")
]
checks += [
("E_EMS11", 50),
]
else:
signals += [
("PV_AV_CAN", "EMS12", 0),
("CF_Ems_AclAct", "EMS16", 0),
("PV_AV_CAN", "EMS12"),
("CF_Ems_AclAct", "EMS16"),
]
checks += [
("EMS12", 100),
@ -244,24 +244,24 @@ class CarState(CarStateBase):
if CP.carFingerprint in FEATURES["use_cluster_gears"]:
signals += [
("CF_Clu_Gear", "CLU15", 0),
("CF_Clu_Gear", "CLU15"),
]
checks += [
("CLU15", 5)
]
elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
signals += [
("CUR_GR", "TCU12", 0)
("CUR_GR", "TCU12")
]
checks += [
("TCU12", 100)
]
elif CP.carFingerprint in FEATURES["use_elect_gears"]:
signals += [("Elect_Gear_Shifter", "ELECT_GEAR", 0)]
signals += [("Elect_Gear_Shifter", "ELECT_GEAR")]
checks += [("ELECT_GEAR", 20)]
else:
signals += [
("CF_Lvr_Gear", "LVR12", 0)
("CF_Lvr_Gear", "LVR12")
]
checks += [
("LVR12", 100)
@ -273,22 +273,22 @@ class CarState(CarStateBase):
def get_cam_can_parser(CP):
signals = [
# sig_name, sig_address, default
("CF_Lkas_LdwsActivemode", "LKAS11", 0),
("CF_Lkas_LdwsSysState", "LKAS11", 0),
("CF_Lkas_SysWarning", "LKAS11", 0),
("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
("CF_Lkas_LdwsRHWarning", "LKAS11", 0),
("CF_Lkas_HbaLamp", "LKAS11", 0),
("CF_Lkas_FcwBasReq", "LKAS11", 0),
("CF_Lkas_HbaSysState", "LKAS11", 0),
("CF_Lkas_FcwOpt", "LKAS11", 0),
("CF_Lkas_HbaOpt", "LKAS11", 0),
("CF_Lkas_FcwSysState", "LKAS11", 0),
("CF_Lkas_FcwCollisionWarning", "LKAS11", 0),
("CF_Lkas_FusionState", "LKAS11", 0),
("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
("CF_Lkas_LdwsOpt_USM", "LKAS11", 0),
# sig_name, sig_address
("CF_Lkas_LdwsActivemode", "LKAS11"),
("CF_Lkas_LdwsSysState", "LKAS11"),
("CF_Lkas_SysWarning", "LKAS11"),
("CF_Lkas_LdwsLHWarning", "LKAS11"),
("CF_Lkas_LdwsRHWarning", "LKAS11"),
("CF_Lkas_HbaLamp", "LKAS11"),
("CF_Lkas_FcwBasReq", "LKAS11"),
("CF_Lkas_HbaSysState", "LKAS11"),
("CF_Lkas_FcwOpt", "LKAS11"),
("CF_Lkas_HbaOpt", "LKAS11"),
("CF_Lkas_FcwSysState", "LKAS11"),
("CF_Lkas_FcwCollisionWarning", "LKAS11"),
("CF_Lkas_FusionState", "LKAS11"),
("CF_Lkas_FcwOpt_USM", "LKAS11"),
("CF_Lkas_LdwsOpt_USM", "LKAS11"),
]
checks = [

12
selfdrive/car/hyundai/radar_interface.py
Unescape View File

@ -20,11 +20,11 @@ def get_radar_can_parser(CP):
for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT):
msg = f"RADAR_TRACK_{addr:x}"
signals += [
("STATE", msg, 0),
("AZIMUTH", msg, 0),
("LONG_DIST", msg, 0),
("REL_ACCEL", msg, 0),
("REL_SPEED", msg, 0),
("STATE", msg),
("AZIMUTH", msg),
("LONG_DIST", msg),
("REL_ACCEL", msg),
("REL_SPEED", msg),
]
checks += [(msg, 50)]
return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, 1)
@ -81,7 +81,7 @@ class RadarInterface(RadarInterfaceBase):
self.pts[addr].dRel = math.cos(azimuth) * msg['LONG_DIST']
self.pts[addr].yRel = 0.5 * -math.sin(azimuth) * msg['LONG_DIST']
self.pts[addr].vRel = msg['REL_SPEED']
self.pts[addr].aRel = msg['REL_ACCEL']
self.pts[addr].aRel = msg['REL_ACCEL']
self.pts[addr].yvRel = float('nan')
else:

104
selfdrive/car/mazda/carstate.py
Unescape View File

@ -102,18 +102,18 @@ class CarState(CarStateBase):
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("LEFT_BLINK", "BLINK_INFO", 0),
("RIGHT_BLINK", "BLINK_INFO", 0),
("HIGH_BEAMS", "BLINK_INFO", 0),
("STEER_ANGLE", "STEER", 0),
("STEER_ANGLE_RATE", "STEER_RATE", 0),
("STEER_TORQUE_SENSOR", "STEER_TORQUE", 0),
("STEER_TORQUE_MOTOR", "STEER_TORQUE", 0),
("FL", "WHEEL_SPEEDS", 0),
("FR", "WHEEL_SPEEDS", 0),
("RL", "WHEEL_SPEEDS", 0),
("RR", "WHEEL_SPEEDS", 0),
# sig_name, sig_address
("LEFT_BLINK", "BLINK_INFO"),
("RIGHT_BLINK", "BLINK_INFO"),
("HIGH_BEAMS", "BLINK_INFO"),
("STEER_ANGLE", "STEER"),
("STEER_ANGLE_RATE", "STEER_RATE"),
("STEER_TORQUE_SENSOR", "STEER_TORQUE"),
("STEER_TORQUE_MOTOR", "STEER_TORQUE"),
("FL", "WHEEL_SPEEDS"),
("FR", "WHEEL_SPEEDS"),
("RL", "WHEEL_SPEEDS"),
("RR", "WHEEL_SPEEDS"),
]
checks = [
@ -127,26 +127,26 @@ class CarState(CarStateBase):
if CP.carFingerprint in GEN1:
signals += [
("LKAS_BLOCK", "STEER_RATE", 0),
("LKAS_TRACK_STATE", "STEER_RATE", 0),
("HANDS_OFF_5_SECONDS", "STEER_RATE", 0),
("CRZ_ACTIVE", "CRZ_CTRL", 0),
("CRZ_AVAILABLE", "CRZ_CTRL", 0),
("CRZ_SPEED", "CRZ_EVENTS", 0),
("STANDSTILL", "PEDALS", 0),
("BRAKE_ON", "PEDALS", 0),
("BRAKE_PRESSURE", "BRAKE", 0),
("GEAR", "GEAR", 0),
("DRIVER_SEATBELT", "SEATBELT", 0),
("FL", "DOORS", 0),
("FR", "DOORS", 0),
("BL", "DOORS", 0),
("BR", "DOORS", 0),
("PEDAL_GAS", "ENGINE_DATA", 0),
("SPEED", "ENGINE_DATA", 0),
("CTR", "CRZ_BTNS", 0),
("LEFT_BS1", "BSM", 0),
("RIGHT_BS1", "BSM", 0),
("LKAS_BLOCK", "STEER_RATE"),
("LKAS_TRACK_STATE", "STEER_RATE"),
("HANDS_OFF_5_SECONDS", "STEER_RATE"),
("CRZ_ACTIVE", "CRZ_CTRL"),
("CRZ_AVAILABLE", "CRZ_CTRL"),
("CRZ_SPEED", "CRZ_EVENTS"),
("STANDSTILL", "PEDALS"),
("BRAKE_ON", "PEDALS"),
("BRAKE_PRESSURE", "BRAKE"),
("GEAR", "GEAR"),
("DRIVER_SEATBELT", "SEATBELT"),
("FL", "DOORS"),
("FR", "DOORS"),
("BL", "DOORS"),
("BR", "DOORS"),
("PEDAL_GAS", "ENGINE_DATA"),
("SPEED", "ENGINE_DATA"),
("CTR", "CRZ_BTNS"),
("LEFT_BS1", "BSM"),
("RIGHT_BS1", "BSM"),
]
checks += [
@ -171,26 +171,26 @@ class CarState(CarStateBase):
if CP.carFingerprint in GEN1:
signals += [
# sig_name, sig_address, default
("LKAS_REQUEST", "CAM_LKAS", 0),
("CTR", "CAM_LKAS", 0),
("ERR_BIT_1", "CAM_LKAS", 0),
("LINE_NOT_VISIBLE", "CAM_LKAS", 0),
("BIT_1", "CAM_LKAS", 1),
("ERR_BIT_2", "CAM_LKAS", 0),
("STEERING_ANGLE", "CAM_LKAS", 0),
("ANGLE_ENABLED", "CAM_LKAS", 0),
("CHKSUM", "CAM_LKAS", 0),
("LINE_VISIBLE", "CAM_LANEINFO", 0),
("LINE_NOT_VISIBLE", "CAM_LANEINFO", 1),
("LANE_LINES", "CAM_LANEINFO", 0),
("BIT1", "CAM_LANEINFO", 0),
("BIT2", "CAM_LANEINFO", 0),
("BIT3", "CAM_LANEINFO", 0),
("NO_ERR_BIT", "CAM_LANEINFO", 1),
("S1", "CAM_LANEINFO", 0),
("S1_HBEAM", "CAM_LANEINFO", 0),
# sig_name, sig_address
("LKAS_REQUEST", "CAM_LKAS"),
("CTR", "CAM_LKAS"),
("ERR_BIT_1", "CAM_LKAS"),
("LINE_NOT_VISIBLE", "CAM_LKAS"),
("BIT_1", "CAM_LKAS"),
("ERR_BIT_2", "CAM_LKAS"),
("STEERING_ANGLE", "CAM_LKAS"),
("ANGLE_ENABLED", "CAM_LKAS"),
("CHKSUM", "CAM_LKAS"),
("LINE_VISIBLE", "CAM_LANEINFO"),
("LINE_NOT_VISIBLE", "CAM_LANEINFO"),
("LANE_LINES", "CAM_LANEINFO"),
("BIT1", "CAM_LANEINFO"),
("BIT2", "CAM_LANEINFO"),
("BIT3", "CAM_LANEINFO"),
("NO_ERR_BIT", "CAM_LANEINFO"),
("S1", "CAM_LANEINFO"),
("S1_HBEAM", "CAM_LANEINFO"),
]
checks += [

265
selfdrive/car/nissan/carstate.py
Unescape View File

@ -121,25 +121,25 @@ class CarState(CarStateBase):
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("WHEEL_SPEED_FL", "WHEEL_SPEEDS_FRONT", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS_FRONT", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS_REAR", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS_REAR", 0),
# sig_name, sig_address
("WHEEL_SPEED_FL", "WHEEL_SPEEDS_FRONT"),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS_FRONT"),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS_REAR"),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS_REAR"),
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
("STEER_ANGLE", "STEER_ANGLE_SENSOR"),
("DOOR_OPEN_FR", "DOORS_LIGHTS", 1),
("DOOR_OPEN_FL", "DOORS_LIGHTS", 1),
("DOOR_OPEN_RR", "DOORS_LIGHTS", 1),
("DOOR_OPEN_RL", "DOORS_LIGHTS", 1),
("DOOR_OPEN_FR", "DOORS_LIGHTS"),
("DOOR_OPEN_FL", "DOORS_LIGHTS"),
("DOOR_OPEN_RR", "DOORS_LIGHTS"),
("DOOR_OPEN_RL", "DOORS_LIGHTS"),
("RIGHT_BLINKER", "LIGHTS", 0),
("LEFT_BLINKER", "LIGHTS", 0),
("RIGHT_BLINKER", "LIGHTS"),
("LEFT_BLINKER", "LIGHTS"),
("ESP_DISABLED", "ESP", 0),
("ESP_DISABLED", "ESP"),
("GEAR_SHIFTER", "GEARBOX", 0),
("GEAR_SHIFTER", "GEARBOX"),
]
checks = [
@ -155,26 +155,26 @@ class CarState(CarStateBase):
if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
signals += [
("USER_BRAKE_PRESSED", "DOORS_LIGHTS", 1),
("GAS_PEDAL", "GAS_PEDAL", 0),
("SEATBELT_DRIVER_LATCHED", "HUD", 0),
("SPEED_MPH", "HUD", 0),
("PROPILOT_BUTTON", "CRUISE_THROTTLE", 0),
("CANCEL_BUTTON", "CRUISE_THROTTLE", 0),
("GAS_PEDAL_INVERTED", "CRUISE_THROTTLE", 0),
("SET_BUTTON", "CRUISE_THROTTLE", 0),
("RES_BUTTON", "CRUISE_THROTTLE", 0),
("FOLLOW_DISTANCE_BUTTON", "CRUISE_THROTTLE", 0),
("NO_BUTTON_PRESSED", "CRUISE_THROTTLE", 0),
("GAS_PEDAL", "CRUISE_THROTTLE", 0),
("USER_BRAKE_PRESSED", "CRUISE_THROTTLE", 0),
("NEW_SIGNAL_2", "CRUISE_THROTTLE", 0),
("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE", 0),
("unsure1", "CRUISE_THROTTLE", 0),
("unsure2", "CRUISE_THROTTLE", 0),
("unsure3", "CRUISE_THROTTLE", 0),
("USER_BRAKE_PRESSED", "DOORS_LIGHTS"),
("GAS_PEDAL", "GAS_PEDAL"),
("SEATBELT_DRIVER_LATCHED", "HUD"),
("SPEED_MPH", "HUD"),
("PROPILOT_BUTTON", "CRUISE_THROTTLE"),
("CANCEL_BUTTON", "CRUISE_THROTTLE"),
("GAS_PEDAL_INVERTED", "CRUISE_THROTTLE"),
("SET_BUTTON", "CRUISE_THROTTLE"),
("RES_BUTTON", "CRUISE_THROTTLE"),
("FOLLOW_DISTANCE_BUTTON", "CRUISE_THROTTLE"),
("NO_BUTTON_PRESSED", "CRUISE_THROTTLE"),
("GAS_PEDAL", "CRUISE_THROTTLE"),
("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"),
("NEW_SIGNAL_2", "CRUISE_THROTTLE"),
("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE"),
("unsure1", "CRUISE_THROTTLE"),
("unsure2", "CRUISE_THROTTLE"),
("unsure3", "CRUISE_THROTTLE"),
]
checks += [
@ -185,17 +185,17 @@ class CarState(CarStateBase):
elif CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
signals += [
("USER_BRAKE_PRESSED", "CRUISE_THROTTLE", 1),
("GAS_PEDAL", "CRUISE_THROTTLE", 0),
("CRUISE_AVAILABLE", "CRUISE_THROTTLE", 0),
("SPEED_MPH", "HUD_SETTINGS", 0),
("SEATBELT_DRIVER_LATCHED", "SEATBELT", 0),
("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"),
("GAS_PEDAL", "CRUISE_THROTTLE"),
("CRUISE_AVAILABLE", "CRUISE_THROTTLE"),
("SPEED_MPH", "HUD_SETTINGS"),
("SEATBELT_DRIVER_LATCHED", "SEATBELT"),
# Copy other values, we use this to cancel
("CANCEL_SEATBELT", "CANCEL_MSG", 0),
("NEW_SIGNAL_1", "CANCEL_MSG", 0),
("NEW_SIGNAL_2", "CANCEL_MSG", 0),
("NEW_SIGNAL_3", "CANCEL_MSG", 0),
("CANCEL_SEATBELT", "CANCEL_MSG"),
("NEW_SIGNAL_1", "CANCEL_MSG"),
("NEW_SIGNAL_2", "CANCEL_MSG"),
("NEW_SIGNAL_3", "CANCEL_MSG"),
]
checks += [
("BRAKE_PEDAL", 100),
@ -207,9 +207,9 @@ class CarState(CarStateBase):
if CP.carFingerprint == CAR.ALTIMA:
signals += [
("LKAS_ENABLED", "LKAS_SETTINGS", 0),
("CRUISE_ENABLED", "CRUISE_STATE", 0),
("SET_SPEED", "PROPILOT_HUD", 0),
("LKAS_ENABLED", "LKAS_SETTINGS"),
("CRUISE_ENABLED", "CRUISE_STATE"),
("SET_SPEED", "PROPILOT_HUD"),
]
checks += [
("CRUISE_STATE", 10),
@ -219,7 +219,7 @@ class CarState(CarStateBase):
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
signals += [
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"),
]
checks += [
("STEER_TORQUE_SENSOR", 100),
@ -233,14 +233,14 @@ class CarState(CarStateBase):
if CP.carFingerprint == CAR.ALTIMA:
signals = [
("DESIRED_ANGLE", "LKAS", 0),
("SET_0x80_2", "LKAS", 0),
("MAX_TORQUE", "LKAS", 0),
("SET_0x80", "LKAS", 0),
("COUNTER", "LKAS", 0),
("LKA_ACTIVE", "LKAS", 0),
("CRUISE_ON", "PRO_PILOT", 0),
("DESIRED_ANGLE", "LKAS"),
("SET_0x80_2", "LKAS"),
("MAX_TORQUE", "LKAS"),
("SET_0x80", "LKAS"),
("COUNTER", "LKAS"),
("LKA_ACTIVE", "LKAS"),
("CRUISE_ON", "PRO_PILOT"),
]
checks = [
("LKAS", 100),
@ -248,85 +248,85 @@ class CarState(CarStateBase):
]
else:
signals = [
# sig_name, sig_address, default
("LKAS_ENABLED", "LKAS_SETTINGS", 0),
# sig_name, sig_address
("LKAS_ENABLED", "LKAS_SETTINGS"),
("CRUISE_ENABLED", "CRUISE_STATE", 0),
("CRUISE_ENABLED", "CRUISE_STATE"),
("DESIRED_ANGLE", "LKAS", 0),
("SET_0x80_2", "LKAS", 0),
("MAX_TORQUE", "LKAS", 0),
("SET_0x80", "LKAS", 0),
("COUNTER", "LKAS", 0),
("LKA_ACTIVE", "LKAS", 0),
("DESIRED_ANGLE", "LKAS"),
("SET_0x80_2", "LKAS"),
("MAX_TORQUE", "LKAS"),
("SET_0x80", "LKAS"),
("COUNTER", "LKAS"),
("LKA_ACTIVE", "LKAS"),
# Below are the HUD messages. We copy the stock message and modify
("LARGE_WARNING_FLASHING", "PROPILOT_HUD", 0),
("SIDE_RADAR_ERROR_FLASHING1", "PROPILOT_HUD", 0),
("SIDE_RADAR_ERROR_FLASHING2", "PROPILOT_HUD", 0),
("LEAD_CAR", "PROPILOT_HUD", 0),
("LEAD_CAR_ERROR", "PROPILOT_HUD", 0),
("FRONT_RADAR_ERROR", "PROPILOT_HUD", 0),
("FRONT_RADAR_ERROR_FLASHING", "PROPILOT_HUD", 0),
("SIDE_RADAR_ERROR_FLASHING3", "PROPILOT_HUD", 0),
("LKAS_ERROR_FLASHING", "PROPILOT_HUD", 0),
("SAFETY_SHIELD_ACTIVE", "PROPILOT_HUD", 0),
("RIGHT_LANE_GREEN_FLASH", "PROPILOT_HUD", 0),
("LEFT_LANE_GREEN_FLASH", "PROPILOT_HUD", 0),
("FOLLOW_DISTANCE", "PROPILOT_HUD", 0),
("AUDIBLE_TONE", "PROPILOT_HUD", 0),
("SPEED_SET_ICON", "PROPILOT_HUD", 0),
("SMALL_STEERING_WHEEL_ICON", "PROPILOT_HUD", 0),
("unknown59", "PROPILOT_HUD", 0),
("unknown55", "PROPILOT_HUD", 0),
("unknown26", "PROPILOT_HUD", 0),
("unknown28", "PROPILOT_HUD", 0),
("unknown31", "PROPILOT_HUD", 0),
("SET_SPEED", "PROPILOT_HUD", 0),
("unknown43", "PROPILOT_HUD", 0),
("unknown08", "PROPILOT_HUD", 0),
("unknown05", "PROPILOT_HUD", 0),
("unknown02", "PROPILOT_HUD", 0),
("NA_HIGH_ACCEL_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_RADAR_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("LKAS_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("FRONT_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_RADAR_NA_CLEAN_REAR_CAMERA", "PROPILOT_HUD_INFO_MSG", 0),
("NA_POOR_ROAD_CONDITIONS", "PROPILOT_HUD_INFO_MSG", 0),
("CURRENTLY_UNAVAILABLE", "PROPILOT_HUD_INFO_MSG", 0),
("SAFETY_SHIELD_OFF", "PROPILOT_HUD_INFO_MSG", 0),
("FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG", 0),
("PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_IMPACT_NA_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG", 0),
("WARNING_DO_NOT_ENTER", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_IMPACT_SYSTEM_OFF", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_IMPACT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("FRONT_COLLISION_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
("LKAS_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
("FRONT_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
("PROPILOT_NA_MSGS", "PROPILOT_HUD_INFO_MSG", 0),
("BOTTOM_MSG", "PROPILOT_HUD_INFO_MSG", 0),
("HANDS_ON_WHEEL_WARNING", "PROPILOT_HUD_INFO_MSG", 0),
("WARNING_STEP_ON_BRAKE_NOW", "PROPILOT_HUD_INFO_MSG", 0),
("PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", "PROPILOT_HUD_INFO_MSG", 0),
("PROPILOT_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
("WARNING_PROPILOT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("ACC_UNAVAILABLE_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
("ACC_NA_FRONT_CAMERA_IMPARED", "PROPILOT_HUD_INFO_MSG", 0),
("unknown07", "PROPILOT_HUD_INFO_MSG", 0),
("unknown10", "PROPILOT_HUD_INFO_MSG", 0),
("unknown15", "PROPILOT_HUD_INFO_MSG", 0),
("unknown23", "PROPILOT_HUD_INFO_MSG", 0),
("unknown19", "PROPILOT_HUD_INFO_MSG", 0),
("unknown31", "PROPILOT_HUD_INFO_MSG", 0),
("unknown32", "PROPILOT_HUD_INFO_MSG", 0),
("unknown46", "PROPILOT_HUD_INFO_MSG", 0),
("unknown61", "PROPILOT_HUD_INFO_MSG", 0),
("unknown55", "PROPILOT_HUD_INFO_MSG", 0),
("unknown50", "PROPILOT_HUD_INFO_MSG", 0),
("LARGE_WARNING_FLASHING", "PROPILOT_HUD"),
("SIDE_RADAR_ERROR_FLASHING1", "PROPILOT_HUD"),
("SIDE_RADAR_ERROR_FLASHING2", "PROPILOT_HUD"),
("LEAD_CAR", "PROPILOT_HUD"),
("LEAD_CAR_ERROR", "PROPILOT_HUD"),
("FRONT_RADAR_ERROR", "PROPILOT_HUD"),
("FRONT_RADAR_ERROR_FLASHING", "PROPILOT_HUD"),
("SIDE_RADAR_ERROR_FLASHING3", "PROPILOT_HUD"),
("LKAS_ERROR_FLASHING", "PROPILOT_HUD"),
("SAFETY_SHIELD_ACTIVE", "PROPILOT_HUD"),
("RIGHT_LANE_GREEN_FLASH", "PROPILOT_HUD"),
("LEFT_LANE_GREEN_FLASH", "PROPILOT_HUD"),
("FOLLOW_DISTANCE", "PROPILOT_HUD"),
("AUDIBLE_TONE", "PROPILOT_HUD"),
("SPEED_SET_ICON", "PROPILOT_HUD"),
("SMALL_STEERING_WHEEL_ICON", "PROPILOT_HUD"),
("unknown59", "PROPILOT_HUD"),
("unknown55", "PROPILOT_HUD"),
("unknown26", "PROPILOT_HUD"),
("unknown28", "PROPILOT_HUD"),
("unknown31", "PROPILOT_HUD"),
("SET_SPEED", "PROPILOT_HUD"),
("unknown43", "PROPILOT_HUD"),
("unknown08", "PROPILOT_HUD"),
("unknown05", "PROPILOT_HUD"),
("unknown02", "PROPILOT_HUD"),
("NA_HIGH_ACCEL_TEMP", "PROPILOT_HUD_INFO_MSG"),
("SIDE_RADAR_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"),
("SIDE_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
("LKAS_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
("FRONT_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
("SIDE_RADAR_NA_CLEAN_REAR_CAMERA", "PROPILOT_HUD_INFO_MSG"),
("NA_POOR_ROAD_CONDITIONS", "PROPILOT_HUD_INFO_MSG"),
("CURRENTLY_UNAVAILABLE", "PROPILOT_HUD_INFO_MSG"),
("SAFETY_SHIELD_OFF", "PROPILOT_HUD_INFO_MSG"),
("FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG"),
("PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", "PROPILOT_HUD_INFO_MSG"),
("SIDE_IMPACT_NA_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG"),
("WARNING_DO_NOT_ENTER", "PROPILOT_HUD_INFO_MSG"),
("SIDE_IMPACT_SYSTEM_OFF", "PROPILOT_HUD_INFO_MSG"),
("SIDE_IMPACT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
("FRONT_COLLISION_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
("SIDE_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"),
("LKAS_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"),
("FRONT_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"),
("PROPILOT_NA_MSGS", "PROPILOT_HUD_INFO_MSG"),
("BOTTOM_MSG", "PROPILOT_HUD_INFO_MSG"),
("HANDS_ON_WHEEL_WARNING", "PROPILOT_HUD_INFO_MSG"),
("WARNING_STEP_ON_BRAKE_NOW", "PROPILOT_HUD_INFO_MSG"),
("PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", "PROPILOT_HUD_INFO_MSG"),
("PROPILOT_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"),
("WARNING_PROPILOT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
("ACC_UNAVAILABLE_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"),
("ACC_NA_FRONT_CAMERA_IMPARED", "PROPILOT_HUD_INFO_MSG"),
("unknown07", "PROPILOT_HUD_INFO_MSG"),
("unknown10", "PROPILOT_HUD_INFO_MSG"),
("unknown15", "PROPILOT_HUD_INFO_MSG"),
("unknown23", "PROPILOT_HUD_INFO_MSG"),
("unknown19", "PROPILOT_HUD_INFO_MSG"),
("unknown31", "PROPILOT_HUD_INFO_MSG"),
("unknown32", "PROPILOT_HUD_INFO_MSG"),
("unknown46", "PROPILOT_HUD_INFO_MSG"),
("unknown61", "PROPILOT_HUD_INFO_MSG"),
("unknown55", "PROPILOT_HUD_INFO_MSG"),
("unknown50", "PROPILOT_HUD_INFO_MSG"),
]
checks = [
@ -346,19 +346,18 @@ class CarState(CarStateBase):
if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
signals += [
("CRUISE_ON", "PRO_PILOT", 0),
("CRUISE_ON", "PRO_PILOT"),
]
checks += [
("PRO_PILOT", 100),
]
elif CP.carFingerprint == CAR.ALTIMA:
signals += [
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"),
]
checks += [
("STEER_TORQUE_SENSOR", 100),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)

168
selfdrive/car/subaru/carstate.py
Unescape View File

@ -79,26 +79,26 @@ class CarState(CarStateBase):
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("Steer_Torque_Sensor", "Steering_Torque", 0),
("Steering_Angle", "Steering_Torque", 0),
("Steer_Error_1", "Steering_Torque", 0),
("Cruise_On", "CruiseControl", 0),
("Cruise_Activated", "CruiseControl", 0),
("Brake_Pedal", "Brake_Pedal", 0),
("Throttle_Pedal", "Throttle", 0),
("LEFT_BLINKER", "Dashlights", 0),
("RIGHT_BLINKER", "Dashlights", 0),
("SEATBELT_FL", "Dashlights", 0),
("FL", "Wheel_Speeds", 0),
("FR", "Wheel_Speeds", 0),
("RL", "Wheel_Speeds", 0),
("RR", "Wheel_Speeds", 0),
("DOOR_OPEN_FR", "BodyInfo", 1),
("DOOR_OPEN_FL", "BodyInfo", 1),
("DOOR_OPEN_RR", "BodyInfo", 1),
("DOOR_OPEN_RL", "BodyInfo", 1),
("Gear", "Transmission", 0),
# sig_name, sig_address
("Steer_Torque_Sensor", "Steering_Torque"),
("Steering_Angle", "Steering_Torque"),
("Steer_Error_1", "Steering_Torque"),
("Cruise_On", "CruiseControl"),
("Cruise_Activated", "CruiseControl"),
("Brake_Pedal", "Brake_Pedal"),
("Throttle_Pedal", "Throttle"),
("LEFT_BLINKER", "Dashlights"),
("RIGHT_BLINKER", "Dashlights"),
("SEATBELT_FL", "Dashlights"),
("FL", "Wheel_Speeds"),
("FR", "Wheel_Speeds"),
("RL", "Wheel_Speeds"),
("RR", "Wheel_Speeds"),
("DOOR_OPEN_FR", "BodyInfo"),
("DOOR_OPEN_FL", "BodyInfo"),
("DOOR_OPEN_RR", "BodyInfo"),
("DOOR_OPEN_RL", "BodyInfo"),
("Gear", "Transmission"),
]
checks = [
@ -114,10 +114,10 @@ class CarState(CarStateBase):
if CP.enableBsm:
signals += [
("L_ADJACENT", "BSD_RCTA", 0),
("R_ADJACENT", "BSD_RCTA", 0),
("L_APPROACHING", "BSD_RCTA", 0),
("R_APPROACHING", "BSD_RCTA", 0),
("L_ADJACENT", "BSD_RCTA"),
("R_ADJACENT", "BSD_RCTA"),
("L_APPROACHING", "BSD_RCTA"),
("R_APPROACHING", "BSD_RCTA"),
]
checks += [
("BSD_RCTA", 17),
@ -125,9 +125,9 @@ class CarState(CarStateBase):
if CP.carFingerprint not in PREGLOBAL_CARS:
signals += [
("Steer_Warning", "Steering_Torque", 0),
("Brake", "Brake_Status", 0),
("UNITS", "Dashlights", 0),
("Steer_Warning", "Steering_Torque"),
("Brake", "Brake_Status"),
("UNITS", "Dashlights"),
]
checks += [
@ -138,7 +138,7 @@ class CarState(CarStateBase):
]
else:
signals += [
("UNITS", "Dash_State2", 0),
("UNITS", "Dash_State2"),
]
checks += [
@ -164,26 +164,26 @@ class CarState(CarStateBase):
def get_cam_can_parser(CP):
if CP.carFingerprint in PREGLOBAL_CARS:
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Not_Ready_Startup", "ES_DashStatus", 0),
("Cruise_Throttle", "ES_Distance", 0),
("Signal1", "ES_Distance", 0),
("Car_Follow", "ES_Distance", 0),
("Signal2", "ES_Distance", 0),
("Brake_On", "ES_Distance", 0),
("Distance_Swap", "ES_Distance", 0),
("Standstill", "ES_Distance", 0),
("Signal3", "ES_Distance", 0),
("Close_Distance", "ES_Distance", 0),
("Signal4", "ES_Distance", 0),
("Standstill_2", "ES_Distance", 0),
("Cruise_Fault", "ES_Distance", 0),
("Signal5", "ES_Distance", 0),
("Counter", "ES_Distance", 0),
("Signal6", "ES_Distance", 0),
("Cruise_Button", "ES_Distance", 0),
("Signal7", "ES_Distance", 0),
("Cruise_Set_Speed", "ES_DashStatus"),
("Not_Ready_Startup", "ES_DashStatus"),
("Cruise_Throttle", "ES_Distance"),
("Signal1", "ES_Distance"),
("Car_Follow", "ES_Distance"),
("Signal2", "ES_Distance"),
("Brake_On", "ES_Distance"),
("Distance_Swap", "ES_Distance"),
("Standstill", "ES_Distance"),
("Signal3", "ES_Distance"),
("Close_Distance", "ES_Distance"),
("Signal4", "ES_Distance"),
("Standstill_2", "ES_Distance"),
("Cruise_Fault", "ES_Distance"),
("Signal5", "ES_Distance"),
("Counter", "ES_Distance"),
("Signal6", "ES_Distance"),
("Cruise_Button", "ES_Distance"),
("Signal7", "ES_Distance"),
]
checks = [
@ -192,42 +192,42 @@ class CarState(CarStateBase):
]
else:
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Conventional_Cruise", "ES_DashStatus", 0),
("Counter", "ES_Distance", 0),
("Signal1", "ES_Distance", 0),
("Cruise_Fault", "ES_Distance", 0),
("Cruise_Throttle", "ES_Distance", 0),
("Signal2", "ES_Distance", 0),
("Car_Follow", "ES_Distance", 0),
("Signal3", "ES_Distance", 0),
("Cruise_Brake_Active", "ES_Distance", 0),
("Distance_Swap", "ES_Distance", 0),
("Cruise_EPB", "ES_Distance", 0),
("Signal4", "ES_Distance", 0),
("Close_Distance", "ES_Distance", 0),
("Signal5", "ES_Distance", 0),
("Cruise_Cancel", "ES_Distance", 0),
("Cruise_Set", "ES_Distance", 0),
("Cruise_Resume", "ES_Distance", 0),
("Signal6", "ES_Distance", 0),
("Counter", "ES_LKAS_State", 0),
("LKAS_Alert_Msg", "ES_LKAS_State", 0),
("Signal1", "ES_LKAS_State", 0),
("LKAS_ACTIVE", "ES_LKAS_State", 0),
("LKAS_Dash_State", "ES_LKAS_State", 0),
("Signal2", "ES_LKAS_State", 0),
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
("LKAS_Left_Line_Enable", "ES_LKAS_State", 0),
("LKAS_Left_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_Right_Line_Enable", "ES_LKAS_State", 0),
("LKAS_Right_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Alert", "ES_LKAS_State", 0),
("Signal3", "ES_LKAS_State", 0),
("Cruise_Set_Speed", "ES_DashStatus"),
("Conventional_Cruise", "ES_DashStatus"),
("Counter", "ES_Distance"),
("Signal1", "ES_Distance"),
("Cruise_Fault", "ES_Distance"),
("Cruise_Throttle", "ES_Distance"),
("Signal2", "ES_Distance"),
("Car_Follow", "ES_Distance"),
("Signal3", "ES_Distance"),
("Cruise_Brake_Active", "ES_Distance"),
("Distance_Swap", "ES_Distance"),
("Cruise_EPB", "ES_Distance"),
("Signal4", "ES_Distance"),
("Close_Distance", "ES_Distance"),
("Signal5", "ES_Distance"),
("Cruise_Cancel", "ES_Distance"),
("Cruise_Set", "ES_Distance"),
("Cruise_Resume", "ES_Distance"),
("Signal6", "ES_Distance"),
("Counter", "ES_LKAS_State"),
("LKAS_Alert_Msg", "ES_LKAS_State"),
("Signal1", "ES_LKAS_State"),
("LKAS_ACTIVE", "ES_LKAS_State"),
("LKAS_Dash_State", "ES_LKAS_State"),
("Signal2", "ES_LKAS_State"),
("Backward_Speed_Limit_Menu", "ES_LKAS_State"),
("LKAS_Left_Line_Enable", "ES_LKAS_State"),
("LKAS_Left_Line_Light_Blink", "ES_LKAS_State"),
("LKAS_Right_Line_Enable", "ES_LKAS_State"),
("LKAS_Right_Line_Light_Blink", "ES_LKAS_State"),
("LKAS_Left_Line_Visible", "ES_LKAS_State"),
("LKAS_Right_Line_Visible", "ES_LKAS_State"),
("LKAS_Alert", "ES_LKAS_State"),
("Signal3", "ES_LKAS_State"),
]
checks = [

116
selfdrive/car/tesla/carstate.py
Unescape View File

@ -96,64 +96,64 @@ class CarState(CarStateBase):
@staticmethod
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("ESP_vehicleSpeed", "ESP_B", 0),
("DI_pedalPos", "DI_torque1", 0),
("DI_brakePedal", "DI_torque2", 0),
("StW_AnglHP", "STW_ANGLHP_STAT", 0),
("StW_AnglHP_Spd", "STW_ANGLHP_STAT", 0),
("EPAS_handsOnLevel", "EPAS_sysStatus", 0),
("EPAS_torsionBarTorque", "EPAS_sysStatus", 0),
("EPAS_internalSAS", "EPAS_sysStatus", 0),
("EPAS_eacStatus", "EPAS_sysStatus", 1),
("EPAS_eacErrorCode", "EPAS_sysStatus", 0),
("DI_cruiseState", "DI_state", 0),
("DI_digitalSpeed", "DI_state", 0),
("DI_speedUnits", "DI_state", 0),
("DI_gear", "DI_torque2", 0),
("DOOR_STATE_FL", "GTW_carState", 1),
("DOOR_STATE_FR", "GTW_carState", 1),
("DOOR_STATE_RL", "GTW_carState", 1),
("DOOR_STATE_RR", "GTW_carState", 1),
("DOOR_STATE_FrontTrunk", "GTW_carState", 1),
("BOOT_STATE", "GTW_carState", 1),
("BC_indicatorLStatus", "GTW_carState", 1),
("BC_indicatorRStatus", "GTW_carState", 1),
("SDM_bcklDrivStatus", "SDM1", 0),
("driverBrakeStatus", "BrakeMessage", 0),
# sig_name, sig_address
("ESP_vehicleSpeed", "ESP_B"),
("DI_pedalPos", "DI_torque1"),
("DI_brakePedal", "DI_torque2"),
("StW_AnglHP", "STW_ANGLHP_STAT"),
("StW_AnglHP_Spd", "STW_ANGLHP_STAT"),
("EPAS_handsOnLevel", "EPAS_sysStatus"),
("EPAS_torsionBarTorque", "EPAS_sysStatus"),
("EPAS_internalSAS", "EPAS_sysStatus"),
("EPAS_eacStatus", "EPAS_sysStatus"),
("EPAS_eacErrorCode", "EPAS_sysStatus"),
("DI_cruiseState", "DI_state"),
("DI_digitalSpeed", "DI_state"),
("DI_speedUnits", "DI_state"),
("DI_gear", "DI_torque2"),
("DOOR_STATE_FL", "GTW_carState"),
("DOOR_STATE_FR", "GTW_carState"),
("DOOR_STATE_RL", "GTW_carState"),
("DOOR_STATE_RR", "GTW_carState"),
("DOOR_STATE_FrontTrunk", "GTW_carState"),
("BOOT_STATE", "GTW_carState"),
("BC_indicatorLStatus", "GTW_carState"),
("BC_indicatorRStatus", "GTW_carState"),
("SDM_bcklDrivStatus", "SDM1"),
("driverBrakeStatus", "BrakeMessage"),
# We copy this whole message when spamming cancel
("SpdCtrlLvr_Stat", "STW_ACTN_RQ", 0),
("VSL_Enbl_Rq", "STW_ACTN_RQ", 0),
("SpdCtrlLvrStat_Inv", "STW_ACTN_RQ", 0),
("DTR_Dist_Rq", "STW_ACTN_RQ", 0),
("TurnIndLvr_Stat", "STW_ACTN_RQ", 0),
("HiBmLvr_Stat", "STW_ACTN_RQ", 0),
("WprWashSw_Psd", "STW_ACTN_RQ", 0),
("WprWash_R_Sw_Posn_V2", "STW_ACTN_RQ", 0),
("StW_Lvr_Stat", "STW_ACTN_RQ", 0),
("StW_Cond_Flt", "STW_ACTN_RQ", 0),
("StW_Cond_Psd", "STW_ACTN_RQ", 0),
("HrnSw_Psd", "STW_ACTN_RQ", 0),
("StW_Sw00_Psd", "STW_ACTN_RQ", 0),
("StW_Sw01_Psd", "STW_ACTN_RQ", 0),
("StW_Sw02_Psd", "STW_ACTN_RQ", 0),
("StW_Sw03_Psd", "STW_ACTN_RQ", 0),
("StW_Sw04_Psd", "STW_ACTN_RQ", 0),
("StW_Sw05_Psd", "STW_ACTN_RQ", 0),
("StW_Sw06_Psd", "STW_ACTN_RQ", 0),
("StW_Sw07_Psd", "STW_ACTN_RQ", 0),
("StW_Sw08_Psd", "STW_ACTN_RQ", 0),
("StW_Sw09_Psd", "STW_ACTN_RQ", 0),
("StW_Sw10_Psd", "STW_ACTN_RQ", 0),
("StW_Sw11_Psd", "STW_ACTN_RQ", 0),
("StW_Sw12_Psd", "STW_ACTN_RQ", 0),
("StW_Sw13_Psd", "STW_ACTN_RQ", 0),
("StW_Sw14_Psd", "STW_ACTN_RQ", 0),
("StW_Sw15_Psd", "STW_ACTN_RQ", 0),
("WprSw6Posn", "STW_ACTN_RQ", 0),
("MC_STW_ACTN_RQ", "STW_ACTN_RQ", 0),
("CRC_STW_ACTN_RQ", "STW_ACTN_RQ", 0),
("SpdCtrlLvr_Stat", "STW_ACTN_RQ"),
("VSL_Enbl_Rq", "STW_ACTN_RQ"),
("SpdCtrlLvrStat_Inv", "STW_ACTN_RQ"),
("DTR_Dist_Rq", "STW_ACTN_RQ"),
("TurnIndLvr_Stat", "STW_ACTN_RQ"),
("HiBmLvr_Stat", "STW_ACTN_RQ"),
("WprWashSw_Psd", "STW_ACTN_RQ"),
("WprWash_R_Sw_Posn_V2", "STW_ACTN_RQ"),
("StW_Lvr_Stat", "STW_ACTN_RQ"),
("StW_Cond_Flt", "STW_ACTN_RQ"),
("StW_Cond_Psd", "STW_ACTN_RQ"),
("HrnSw_Psd", "STW_ACTN_RQ"),
("StW_Sw00_Psd", "STW_ACTN_RQ"),
("StW_Sw01_Psd", "STW_ACTN_RQ"),
("StW_Sw02_Psd", "STW_ACTN_RQ"),
("StW_Sw03_Psd", "STW_ACTN_RQ"),
("StW_Sw04_Psd", "STW_ACTN_RQ"),
("StW_Sw05_Psd", "STW_ACTN_RQ"),
("StW_Sw06_Psd", "STW_ACTN_RQ"),
("StW_Sw07_Psd", "STW_ACTN_RQ"),
("StW_Sw08_Psd", "STW_ACTN_RQ"),
("StW_Sw09_Psd", "STW_ACTN_RQ"),
("StW_Sw10_Psd", "STW_ACTN_RQ"),
("StW_Sw11_Psd", "STW_ACTN_RQ"),
("StW_Sw12_Psd", "STW_ACTN_RQ"),
("StW_Sw13_Psd", "STW_ACTN_RQ"),
("StW_Sw14_Psd", "STW_ACTN_RQ"),
("StW_Sw15_Psd", "STW_ACTN_RQ"),
("WprSw6Posn", "STW_ACTN_RQ"),
("MC_STW_ACTN_RQ", "STW_ACTN_RQ"),
("CRC_STW_ACTN_RQ", "STW_ACTN_RQ"),
]
checks = [
@ -175,8 +175,8 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
signals = [
# sig_name, sig_address, default
("DAS_accState", "DAS_control", 0),
# sig_name, sig_address
("DAS_accState", "DAS_control"),
]
checks = [
# sig_address, frequency

26
selfdrive/car/tesla/radar_interface.py
Unescape View File

@ -11,9 +11,9 @@ NUM_POINTS = len(RADAR_MSGS_A)
def get_radar_can_parser(CP):
# Status messages
signals = [
('RADC_HWFail', 'TeslaRadarSguInfo', 0),
('RADC_SGUFail', 'TeslaRadarSguInfo', 0),
('RADC_SensorDirty', 'TeslaRadarSguInfo', 0),
('RADC_HWFail', 'TeslaRadarSguInfo'),
('RADC_SGUFail', 'TeslaRadarSguInfo'),
('RADC_SensorDirty', 'TeslaRadarSguInfo'),
]
checks = [
@ -29,16 +29,16 @@ def get_radar_can_parser(CP):
# There is a bunch more info in the messages,
# but these are the only things actually used in openpilot
signals.extend([
('LongDist', msg_id_a, 255),
('LongSpeed', msg_id_a, 0),
('LatDist', msg_id_a, 0),
('LongAccel', msg_id_a, 0),
('Meas', msg_id_a, 0),
('Tracked', msg_id_a, 0),
('Index', msg_id_a, 0),
('LatSpeed', msg_id_b, 0),
('Index2', msg_id_b, 0),
('LongDist', msg_id_a),
('LongSpeed', msg_id_a),
('LatDist', msg_id_a),
('LongAccel', msg_id_a),
('Meas', msg_id_a),
('Tracked', msg_id_a),
('Index', msg_id_a),
('LatSpeed', msg_id_b),
('Index2', msg_id_b),
])
checks.extend([

52
selfdrive/car/toyota/carstate.py
Unescape View File

@ -129,32 +129,32 @@ class CarState(CarStateBase):
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
("GEAR", "GEAR_PACKET", 0),
("BRAKE_PRESSED", "BRAKE_MODULE", 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),
("DOOR_OPEN_FL", "BODY_CONTROL_STATE", 1),
("DOOR_OPEN_FR", "BODY_CONTROL_STATE", 1),
("DOOR_OPEN_RL", "BODY_CONTROL_STATE", 1),
("DOOR_OPEN_RR", "BODY_CONTROL_STATE", 1),
("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE", 1),
("TC_DISABLED", "ESP_CONTROL", 1),
("BRAKE_HOLD_ACTIVE", "ESP_CONTROL", 1),
("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
("CRUISE_ACTIVE", "PCM_CRUISE", 0),
("CRUISE_STATE", "PCM_CRUISE", 0),
("GAS_RELEASED", "PCM_CRUISE", 1),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0),
("TURN_SIGNALS", "BLINKERS_STATE", 3), # 3 is no blinkers
("LKA_STATE", "EPS_STATUS", 0),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
# sig_name, sig_address
("STEER_ANGLE", "STEER_ANGLE_SENSOR"),
("GEAR", "GEAR_PACKET"),
("BRAKE_PRESSED", "BRAKE_MODULE"),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
("DOOR_OPEN_FL", "BODY_CONTROL_STATE"),
("DOOR_OPEN_FR", "BODY_CONTROL_STATE"),
("DOOR_OPEN_RL", "BODY_CONTROL_STATE"),
("DOOR_OPEN_RR", "BODY_CONTROL_STATE"),
("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE"),
("TC_DISABLED", "ESP_CONTROL"),
("BRAKE_HOLD_ACTIVE", "ESP_CONTROL"),
("STEER_FRACTION", "STEER_ANGLE_SENSOR"),
("STEER_RATE", "STEER_ANGLE_SENSOR"),
("CRUISE_ACTIVE", "PCM_CRUISE"),
("CRUISE_STATE", "PCM_CRUISE"),
("GAS_RELEASED", "PCM_CRUISE"),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"),
("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR"),
("STEER_ANGLE", "STEER_TORQUE_SENSOR"),
("TURN_SIGNALS", "BLINKERS_STATE"),
("LKA_STATE", "EPS_STATUS"),
("AUTO_HIGH_BEAM", "LIGHT_STALK"),
]
checks = [

8
selfdrive/car/toyota/radar_interface.py
Unescape View File

@ -4,6 +4,7 @@ from cereal import car
from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSS2_CAR
from selfdrive.car.interfaces import RadarInterfaceBase
def _create_radar_can_parser(car_fingerprint):
if car_fingerprint in TSS2_CAR:
RADAR_A_MSGS = list(range(0x180, 0x190))
@ -16,11 +17,10 @@ def _create_radar_can_parser(car_fingerprint):
msg_b_n = len(RADAR_B_MSGS)
signals = list(zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
RADAR_A_MSGS * 5 + RADAR_B_MSGS,
[255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n))
['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
RADAR_A_MSGS * 5 + RADAR_B_MSGS))
checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n)))
checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n)))
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)

120
selfdrive/car/volkswagen/carstate.py
Unescape View File

@ -149,48 +149,48 @@ class CarState(CarStateBase):
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("LWI_Lenkradwinkel", "LWI_01", 0), # Absolute steering angle
("LWI_VZ_Lenkradwinkel", "LWI_01", 0), # Steering angle sign
("LWI_Lenkradw_Geschw", "LWI_01", 0), # Absolute steering rate
("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0), # Steering rate sign
("ESP_VL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front left
("ESP_VR_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front right
("ESP_HL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear left
("ESP_HR_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear right
("ESP_Gierrate", "ESP_02", 0), # Absolute yaw rate
("ESP_VZ_Gierrate", "ESP_02", 0), # Yaw rate sign
("ZV_FT_offen", "Gateway_72", 0), # Door open, driver
("ZV_BT_offen", "Gateway_72", 0), # Door open, passenger
("ZV_HFS_offen", "Gateway_72", 0), # Door open, rear left
("ZV_HBFS_offen", "Gateway_72", 0), # Door open, rear right
("ZV_HD_offen", "Gateway_72", 0), # Trunk or hatch open
("Comfort_Signal_Left", "Blinkmodi_02", 0), # Left turn signal including comfort blink interval
("Comfort_Signal_Right", "Blinkmodi_02", 0), # Right turn signal including comfort blink interval
("AB_Gurtschloss_FA", "Airbag_02", 0), # Seatbelt status, driver
("AB_Gurtschloss_BF", "Airbag_02", 0), # Seatbelt status, passenger
("ESP_Fahrer_bremst", "ESP_05", 0), # Brake pedal pressed
("ESP_Bremsdruck", "ESP_05", 0), # Brake pressure applied
("MO_Fahrpedalrohwert_01", "Motor_20", 0), # Accelerator pedal value
("EPS_Lenkmoment", "LH_EPS_03", 0), # Absolute driver torque input
("EPS_VZ_Lenkmoment", "LH_EPS_03", 0), # Driver torque input sign
("EPS_HCA_Status", "LH_EPS_03", 3), # EPS HCA control status
("ESP_Tastung_passiv", "ESP_21", 0), # Stability control disabled
("ESP_Haltebestaetigung", "ESP_21", 0), # ESP hold confirmation
("KBI_MFA_v_Einheit_02", "Einheiten_01", 0), # MPH vs KMH speed display
("KBI_Handbremse", "Kombi_01", 0), # Manual handbrake applied
("TSK_Status", "TSK_06", 0), # ACC engagement status from drivetrain coordinator
("GRA_Hauptschalter", "GRA_ACC_01", 0), # ACC button, on/off
("GRA_Abbrechen", "GRA_ACC_01", 0), # ACC button, cancel
("GRA_Tip_Setzen", "GRA_ACC_01", 0), # ACC button, set
("GRA_Tip_Hoch", "GRA_ACC_01", 0), # ACC button, increase or accel
("GRA_Tip_Runter", "GRA_ACC_01", 0), # ACC button, decrease or decel
("GRA_Tip_Wiederaufnahme", "GRA_ACC_01", 0), # ACC button, resume
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01", 0), # ACC button, time gap adj
("GRA_Typ_Hauptschalter", "GRA_ACC_01", 0), # ACC main button type
("GRA_Tip_Stufe_2", "GRA_ACC_01", 0), # unknown related to stalk type
("GRA_ButtonTypeInfo", "GRA_ACC_01", 0), # unknown related to stalk type
("COUNTER", "GRA_ACC_01", 0), # GRA_ACC_01 CAN message counter
# sig_name, sig_address
("LWI_Lenkradwinkel", "LWI_01"), # Absolute steering angle
("LWI_VZ_Lenkradwinkel", "LWI_01"), # Steering angle sign
("LWI_Lenkradw_Geschw", "LWI_01"), # Absolute steering rate
("LWI_VZ_Lenkradw_Geschw", "LWI_01"), # Steering rate sign
("ESP_VL_Radgeschw_02", "ESP_19"), # ABS wheel speed, front left
("ESP_VR_Radgeschw_02", "ESP_19"), # ABS wheel speed, front right
("ESP_HL_Radgeschw_02", "ESP_19"), # ABS wheel speed, rear left
("ESP_HR_Radgeschw_02", "ESP_19"), # ABS wheel speed, rear right
("ESP_Gierrate", "ESP_02"), # Absolute yaw rate
("ESP_VZ_Gierrate", "ESP_02"), # Yaw rate sign
("ZV_FT_offen", "Gateway_72"), # Door open, driver
("ZV_BT_offen", "Gateway_72"), # Door open, passenger
("ZV_HFS_offen", "Gateway_72"), # Door open, rear left
("ZV_HBFS_offen", "Gateway_72"), # Door open, rear right
("ZV_HD_offen", "Gateway_72"), # Trunk or hatch open
("Comfort_Signal_Left", "Blinkmodi_02"), # Left turn signal including comfort blink interval
("Comfort_Signal_Right", "Blinkmodi_02"), # Right turn signal including comfort blink interval
("AB_Gurtschloss_FA", "Airbag_02"), # Seatbelt status, driver
("AB_Gurtschloss_BF", "Airbag_02"), # Seatbelt status, passenger
("ESP_Fahrer_bremst", "ESP_05"), # Brake pedal pressed
("ESP_Bremsdruck", "ESP_05"), # Brake pressure applied
("MO_Fahrpedalrohwert_01", "Motor_20"), # Accelerator pedal value
("EPS_Lenkmoment", "LH_EPS_03"), # Absolute driver torque input
("EPS_VZ_Lenkmoment", "LH_EPS_03"), # Driver torque input sign
("EPS_HCA_Status", "LH_EPS_03"), # EPS HCA control status
("ESP_Tastung_passiv", "ESP_21"), # Stability control disabled
("ESP_Haltebestaetigung", "ESP_21"), # ESP hold confirmation
("KBI_MFA_v_Einheit_02", "Einheiten_01"), # MPH vs KMH speed display
("KBI_Handbremse", "Kombi_01"), # Manual handbrake applied
("TSK_Status", "TSK_06"), # ACC engagement status from drivetrain coordinator
("GRA_Hauptschalter", "GRA_ACC_01"), # ACC button, on/off
("GRA_Abbrechen", "GRA_ACC_01"), # ACC button, cancel
("GRA_Tip_Setzen", "GRA_ACC_01"), # ACC button, set
("GRA_Tip_Hoch", "GRA_ACC_01"), # ACC button, increase or accel
("GRA_Tip_Runter", "GRA_ACC_01"), # ACC button, decrease or decel
("GRA_Tip_Wiederaufnahme", "GRA_ACC_01"), # ACC button, resume
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01"), # ACC button, time gap adj
("GRA_Typ_Hauptschalter", "GRA_ACC_01"), # ACC main button type
("GRA_Tip_Stufe_2", "GRA_ACC_01"), # unknown related to stalk type
("GRA_ButtonTypeInfo", "GRA_ACC_01"), # unknown related to stalk type
("COUNTER", "GRA_ACC_01"), # GRA_ACC_01 CAN message counter
]
checks = [
@ -212,14 +212,14 @@ class CarState(CarStateBase):
]
if CP.transmissionType == TransmissionType.automatic:
signals += [("GE_Fahrstufe", "Getriebe_11", 0)] # Auto trans gear selector position
signals += [("GE_Fahrstufe", "Getriebe_11")] # Auto trans gear selector position
checks += [("Getriebe_11", 20)] # From J743 Auto transmission control module
elif CP.transmissionType == TransmissionType.direct:
signals += [("GearPosition", "EV_Gearshift", 0)] # EV gear selector position
signals += [("GearPosition", "EV_Gearshift")] # EV gear selector position
checks += [("EV_Gearshift", 10)] # From J??? unknown EV control module
elif CP.transmissionType == TransmissionType.manual:
signals += [("MO_Kuppl_schalter", "Motor_14", 0), # Clutch switch
("BCM1_Rueckfahrlicht_Schalter", "Gateway_72", 0)] # Reverse light from BCM
signals += [("MO_Kuppl_schalter", "Motor_14"), # Clutch switch
("BCM1_Rueckfahrlicht_Schalter", "Gateway_72")] # Reverse light from BCM
checks += [("Motor_14", 10)] # From J623 Engine control module
if CP.networkLocation == NetworkLocation.fwdCamera:
@ -240,12 +240,12 @@ class CarState(CarStateBase):
if CP.networkLocation == NetworkLocation.fwdCamera:
signals += [
# sig_name, sig_address, default
("LDW_SW_Warnung_links", "LDW_02", 0), # Blind spot in warning mode on left side due to lane departure
("LDW_SW_Warnung_rechts", "LDW_02", 0), # Blind spot in warning mode on right side due to lane departure
("LDW_Seite_DLCTLC", "LDW_02", 0), # Direction of most likely lane departure (left or right)
("LDW_DLC", "LDW_02", 0), # Lane departure, distance to line crossing
("LDW_TLC", "LDW_02", 0), # Lane departure, time to line crossing
# sig_name, sig_address
("LDW_SW_Warnung_links", "LDW_02"), # Blind spot in warning mode on left side due to lane departure
("LDW_SW_Warnung_rechts", "LDW_02"), # Blind spot in warning mode on right side due to lane departure
("LDW_Seite_DLCTLC", "LDW_02"), # Direction of most likely lane departure (left or right)
("LDW_DLC", "LDW_02"), # Lane departure, distance to line crossing
("LDW_TLC", "LDW_02"), # Lane departure, time to line crossing
]
checks += [
# sig_address, frequency
@ -264,20 +264,20 @@ class CarState(CarStateBase):
class MqbExtraSignals:
# Additional signal and message lists for optional or bus-portable controllers
fwd_radar_signals = [
("ACC_Wunschgeschw", "ACC_02", 0), # ACC set speed
("AWV2_Freigabe", "ACC_10", 0), # FCW brake jerk release
("ANB_Teilbremsung_Freigabe", "ACC_10", 0), # AEB partial braking release
("ANB_Zielbremsung_Freigabe", "ACC_10", 0), # AEB target braking release
("ACC_Wunschgeschw", "ACC_02"), # ACC set speed
("AWV2_Freigabe", "ACC_10"), # FCW brake jerk release
("ANB_Teilbremsung_Freigabe", "ACC_10"), # AEB partial braking release
("ANB_Zielbremsung_Freigabe", "ACC_10"), # AEB target braking release
]
fwd_radar_checks = [
("ACC_10", 50), # From J428 ACC radar control module
("ACC_02", 17), # From J428 ACC radar control module
]
bsm_radar_signals = [
("SWA_Infostufe_SWA_li", "SWA_01", 0), # Blind spot object info, left
("SWA_Warnung_SWA_li", "SWA_01", 0), # Blind spot object warning, left
("SWA_Infostufe_SWA_re", "SWA_01", 0), # Blind spot object info, right
("SWA_Warnung_SWA_re", "SWA_01", 0), # Blind spot object warning, right
("SWA_Infostufe_SWA_li", "SWA_01"), # Blind spot object info, left
("SWA_Warnung_SWA_li", "SWA_01"), # Blind spot object warning, left
("SWA_Infostufe_SWA_re", "SWA_01"), # Blind spot object info, right
("SWA_Warnung_SWA_re", "SWA_01"), # Blind spot object warning, right
]
bsm_radar_checks = [
("SWA_01", 20), # From J1086 Lane Change Assist

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
498e43b0cc062291ec159d7f09b69d9f7024aeca
f0d37f9fec3d36fef37df15f3865c3da068253c8
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