from cereal import car from openpilot.common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from openpilot.selfdrive.car.interfaces import CarStateBase from openpilot.selfdrive.car.ford.fordcan import CanBus from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC GearShifter = car.CarState.GearShifter TransmissionType = car.CarParams.TransmissionType class CarState(CarStateBase): def __init__(self, CP): super().__init__(CP) can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) if CP.transmissionType == TransmissionType.automatic: self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"] self.vehicle_sensors_valid = False self.hybrid_platform = False def update(self, cp, cp_cam): ret = car.CarState.new_message() # Hybrid variants experience a bug where a message from the PCM sends invalid checksums, # we do not support these cars at this time. # TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants self.hybrid_platform = cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement # The vehicle usually recovers out of this state within a minute of normal driving self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3 # car speed ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.yawRate = cp.vl["Yaw_Data_FD1"]["VehYaw_W_Actl"] ret.standstill = cp.vl["DesiredTorqBrk"]["VehStop_D_Stat"] == 1 # gas pedal ret.gas = cp.vl["EngVehicleSpThrottle"]["ApedPos_Pc_ActlArb"] / 100. ret.gasPressed = ret.gas > 1e-6 # brake pedal ret.brake = cp.vl["BrakeSnData_4"]["BrkTot_Tq_Actl"] / 32756. # torque in Nm ret.brakePressed = cp.vl["EngBrakeData"]["BpedDrvAppl_D_Actl"] == 2 ret.parkingBrake = cp.vl["DesiredTorqBrk"]["PrkBrkStatus"] in (1, 2) # steering wheel ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"] ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"] ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5) ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1 ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3) # ret.espDisabled = False # TODO: find traction control signal if self.CP.carFingerprint in CANFD_CAR: # this signal is always 0 on non-CAN FD cars ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3) # cruise state ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5) ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5) ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0 ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3 ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2) if not self.CP.openpilotLongitudinalControl: ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1 # gear if self.CP.transmissionType == TransmissionType.automatic: gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]) ret.gearShifter = self.parse_gear_shifter(gear) elif self.CP.transmissionType == TransmissionType.manual: ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0 if bool(cp.vl["BCM_Lamp_Stat_FD1"]["RvrseLghtOn_B_Stat"]): ret.gearShifter = GearShifter.reverse else: ret.gearShifter = GearShifter.drive # safety ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"]) ret.stockAeb = bool(cp_cam.vl["ACCDATA_2"]["CmbbBrkDecel_B_Rq"]) # button presses ret.leftBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 1 ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2 # TODO: block this going to the camera otherwise it will enable stock TJA ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"]) # lock info ret.doorOpen = any([cp.vl["BodyInfo_3_FD1"]["DrStatDrv_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatPsngr_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatRl_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatRr_B_Actl"]]) ret.seatbeltUnlatched = cp.vl["RCMStatusMessage2_FD1"]["FirstRowBuckleDriver"] == 2 # blindspot sensors if self.CP.enableBsm: cp_bsm = cp_cam if self.CP.carFingerprint in CANFD_CAR else cp ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0 ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0 # Stock steering buttons so that we can passthru blinkers etc. self.buttons_stock_values = cp.vl["Steering_Data_FD1"] # Stock values from IPMA so that we can retain some stock functionality self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"] self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"] return ret @staticmethod def get_can_parser(CP): messages = [ # sig_address, frequency ("VehicleOperatingModes", 100), ("BrakeSysFeatures", 50), ("Yaw_Data_FD1", 100), ("DesiredTorqBrk", 50), ("EngVehicleSpThrottle", 100), ("BrakeSnData_4", 50), ("EngBrakeData", 10), ("Cluster_Info1_FD1", 10), ("SteeringPinion_Data", 100), ("EPAS_INFO", 50), ("Steering_Data_FD1", 10), ("BodyInfo_3_FD1", 2), ("RCMStatusMessage2_FD1", 10), ] if CP.carFingerprint in CANFD_CAR: messages += [ ("Lane_Assist_Data3_FD1", 33), ] if CP.transmissionType == TransmissionType.automatic: messages += [ ("Gear_Shift_by_Wire_FD1", 10), ] elif CP.transmissionType == TransmissionType.manual: messages += [ ("Engine_Clutch_Data", 33), ("BCM_Lamp_Stat_FD1", 1), ] if CP.enableBsm and CP.carFingerprint not in CANFD_CAR: messages += [ ("Side_Detect_L_Stat", 5), ("Side_Detect_R_Stat", 5), ] return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).main) @staticmethod def get_cam_can_parser(CP): messages = [ # sig_address, frequency ("ACCDATA", 50), ("ACCDATA_2", 50), ("ACCDATA_3", 5), ("IPMA_Data", 1), ] if CP.enableBsm and CP.carFingerprint in CANFD_CAR: messages += [ ("Side_Detect_L_Stat", 5), ("Side_Detect_R_Stat", 5), ] return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).camera)