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232 lines
8.1 KiB
232 lines
8.1 KiB
import copy
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from cereal import car
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from opendbc.can.can_define import CANDefine
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from common.conversions import Conversions as CV
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from selfdrive.car.interfaces import CarStateBase
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from opendbc.can.parser import CANParser
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from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CARS
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class CarState(CarStateBase):
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def __init__(self, CP):
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super().__init__(CP)
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can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
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self.shifter_values = can_define.dv["Transmission"]["Gear"]
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def update(self, cp, cp_cam):
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ret = car.CarState.new_message()
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ret.gas = cp.vl["Throttle"]["Throttle_Pedal"] / 255.
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ret.gasPressed = ret.gas > 1e-5
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if self.car_fingerprint in PREGLOBAL_CARS:
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ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 2
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else:
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ret.brakePressed = cp.vl["Brake_Status"]["Brake"] == 1
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ret.wheelSpeeds = self.get_wheel_speeds(
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cp.vl["Wheel_Speeds"]["FL"],
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cp.vl["Wheel_Speeds"]["FR"],
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cp.vl["Wheel_Speeds"]["RL"],
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cp.vl["Wheel_Speeds"]["RR"],
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)
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ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
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# Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = ret.vEgoRaw < 0.01
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# continuous blinker signals for assisted lane change
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ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(
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50, cp.vl["Dashlights"]["LEFT_BLINKER"], cp.vl["Dashlights"]["RIGHT_BLINKER"])
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if self.CP.enableBsm:
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ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
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ret.rightBlindspot = (cp.vl["BSD_RCTA"]["R_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["R_APPROACHING"] == 1)
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can_gear = int(cp.vl["Transmission"]["Gear"])
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
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ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
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ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
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ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
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ret.cruiseState.enabled = cp.vl["CruiseControl"]["Cruise_Activated"] != 0
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ret.cruiseState.available = cp.vl["CruiseControl"]["Cruise_On"] != 0
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ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
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if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \
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(self.car_fingerprint not in PREGLOBAL_CARS and cp.vl["Dashlights"]["UNITS"] == 1):
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ret.cruiseState.speed *= CV.MPH_TO_KPH
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ret.seatbeltUnlatched = cp.vl["Dashlights"]["SEATBELT_FL"] == 1
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ret.doorOpen = any([cp.vl["BodyInfo"]["DOOR_OPEN_RR"],
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cp.vl["BodyInfo"]["DOOR_OPEN_RL"],
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cp.vl["BodyInfo"]["DOOR_OPEN_FR"],
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cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
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ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
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if self.car_fingerprint in PREGLOBAL_CARS:
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self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
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self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
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else:
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ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
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ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
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self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
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self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
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return ret
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@staticmethod
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def get_can_parser(CP):
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signals = [
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# sig_name, sig_address
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("Steer_Torque_Sensor", "Steering_Torque"),
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("Steering_Angle", "Steering_Torque"),
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("Steer_Error_1", "Steering_Torque"),
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("Cruise_On", "CruiseControl"),
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("Cruise_Activated", "CruiseControl"),
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("Brake_Pedal", "Brake_Pedal"),
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("Throttle_Pedal", "Throttle"),
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("LEFT_BLINKER", "Dashlights"),
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("RIGHT_BLINKER", "Dashlights"),
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("SEATBELT_FL", "Dashlights"),
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("FL", "Wheel_Speeds"),
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("FR", "Wheel_Speeds"),
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("RL", "Wheel_Speeds"),
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("RR", "Wheel_Speeds"),
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("DOOR_OPEN_FR", "BodyInfo"),
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("DOOR_OPEN_FL", "BodyInfo"),
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("DOOR_OPEN_RR", "BodyInfo"),
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("DOOR_OPEN_RL", "BodyInfo"),
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("Gear", "Transmission"),
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]
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checks = [
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# sig_address, frequency
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("Throttle", 100),
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("Dashlights", 10),
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("Brake_Pedal", 50),
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("Wheel_Speeds", 50),
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("Transmission", 100),
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("Steering_Torque", 50),
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("BodyInfo", 1),
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]
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if CP.enableBsm:
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signals += [
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("L_ADJACENT", "BSD_RCTA"),
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("R_ADJACENT", "BSD_RCTA"),
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("L_APPROACHING", "BSD_RCTA"),
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("R_APPROACHING", "BSD_RCTA"),
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]
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checks.append(("BSD_RCTA", 17))
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if CP.carFingerprint not in PREGLOBAL_CARS:
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signals += [
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("Steer_Warning", "Steering_Torque"),
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("Brake", "Brake_Status"),
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("UNITS", "Dashlights"),
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]
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checks += [
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("Dashlights", 10),
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("BodyInfo", 10),
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("Brake_Status", 50),
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("CruiseControl", 20),
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]
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else:
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signals.append(("UNITS", "Dash_State2"))
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checks.append(("Dash_State2", 1))
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if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
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checks += [
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("Dashlights", 20),
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("BodyInfo", 1),
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("CruiseControl", 50),
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]
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if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
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checks += [
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("Dashlights", 10),
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("CruiseControl", 50),
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]
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
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@staticmethod
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def get_cam_can_parser(CP):
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if CP.carFingerprint in PREGLOBAL_CARS:
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signals = [
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("Cruise_Set_Speed", "ES_DashStatus"),
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("Not_Ready_Startup", "ES_DashStatus"),
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("Cruise_Throttle", "ES_Distance"),
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("Signal1", "ES_Distance"),
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("Car_Follow", "ES_Distance"),
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("Signal2", "ES_Distance"),
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("Brake_On", "ES_Distance"),
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("Distance_Swap", "ES_Distance"),
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("Standstill", "ES_Distance"),
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("Signal3", "ES_Distance"),
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("Close_Distance", "ES_Distance"),
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("Signal4", "ES_Distance"),
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("Standstill_2", "ES_Distance"),
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("Cruise_Fault", "ES_Distance"),
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("Signal5", "ES_Distance"),
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("COUNTER", "ES_Distance"),
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("Signal6", "ES_Distance"),
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("Cruise_Button", "ES_Distance"),
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("Signal7", "ES_Distance"),
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]
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checks = [
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("ES_DashStatus", 20),
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("ES_Distance", 20),
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]
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else:
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signals = [
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("Cruise_Set_Speed", "ES_DashStatus"),
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("Conventional_Cruise", "ES_DashStatus"),
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("COUNTER", "ES_Distance"),
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("Signal1", "ES_Distance"),
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("Cruise_Fault", "ES_Distance"),
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("Cruise_Throttle", "ES_Distance"),
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("Signal2", "ES_Distance"),
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("Car_Follow", "ES_Distance"),
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("Signal3", "ES_Distance"),
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("Cruise_Brake_Active", "ES_Distance"),
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("Distance_Swap", "ES_Distance"),
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("Cruise_EPB", "ES_Distance"),
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("Signal4", "ES_Distance"),
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("Close_Distance", "ES_Distance"),
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("Signal5", "ES_Distance"),
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("Cruise_Cancel", "ES_Distance"),
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("Cruise_Set", "ES_Distance"),
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("Cruise_Resume", "ES_Distance"),
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("Signal6", "ES_Distance"),
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("COUNTER", "ES_LKAS_State"),
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("LKAS_Alert_Msg", "ES_LKAS_State"),
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("Signal1", "ES_LKAS_State"),
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("LKAS_ACTIVE", "ES_LKAS_State"),
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("LKAS_Dash_State", "ES_LKAS_State"),
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("Signal2", "ES_LKAS_State"),
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("Backward_Speed_Limit_Menu", "ES_LKAS_State"),
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("LKAS_Left_Line_Enable", "ES_LKAS_State"),
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("LKAS_Left_Line_Light_Blink", "ES_LKAS_State"),
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("LKAS_Right_Line_Enable", "ES_LKAS_State"),
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("LKAS_Right_Line_Light_Blink", "ES_LKAS_State"),
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("LKAS_Left_Line_Visible", "ES_LKAS_State"),
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("LKAS_Right_Line_Visible", "ES_LKAS_State"),
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("LKAS_Alert", "ES_LKAS_State"),
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("Signal3", "ES_LKAS_State"),
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]
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checks = [
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("ES_DashStatus", 10),
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("ES_Distance", 20),
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("ES_LKAS_State", 10),
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]
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
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