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248 lines
7.3 KiB
248 lines
7.3 KiB
#!/usr/bin/env python
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import time
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import numpy as np
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from selfdrive.config import Conversions as CV
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from selfdrive.car.honda.carstate import CarState
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from selfdrive.car.honda.carcontroller import CarController, AH
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from selfdrive.boardd.boardd import can_capnp_to_can_list
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from cereal import car
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import zmq
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from selfdrive.services import service_list
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import selfdrive.messaging as messaging
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# Car button codes
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class CruiseButtons:
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RES_ACCEL = 4
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DECEL_SET = 3
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CANCEL = 2
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MAIN = 1
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#car chimes: enumeration from dbc file. Chimes are for alerts and warnings
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class CM:
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MUTE = 0
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SINGLE = 3
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DOUBLE = 4
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REPEATED = 1
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CONTINUOUS = 2
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#car beepss: enumeration from dbc file. Beeps are for activ and deactiv
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class BP:
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MUTE = 0
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SINGLE = 3
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TRIPLE = 2
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REPEATED = 1
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class CarInterface(object):
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def __init__(self, CP, logcan, sendcan=None):
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self.logcan = logcan
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self.CP = CP
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self.frame = 0
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self.can_invalid_count = 0
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# *** init the major players ***
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self.CS = CarState(CP, self.logcan)
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# sending if read only is False
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if sendcan is not None:
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self.sendcan = sendcan
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self.CC = CarController()
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if self.CS.accord:
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self.accord_msg = []
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# returns a car.CarState
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def update(self):
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# ******************* do can recv *******************
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can_pub_main = []
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canMonoTimes = []
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for a in messaging.drain_sock(self.logcan):
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canMonoTimes.append(a.logMonoTime)
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can_pub_main.extend(can_capnp_to_can_list(a.can, [0,2]))
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if self.CS.accord:
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self.accord_msg.extend(can_capnp_to_can_list(a.can, [9]))
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self.accord_msg = self.accord_msg[-1:]
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self.CS.update(can_pub_main)
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# create message
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ret = car.CarState.new_message()
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# speeds
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ret.vEgo = self.CS.v_ego
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ret.wheelSpeeds.fl = self.CS.cp.vl[0x1D0]['WHEEL_SPEED_FL']
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ret.wheelSpeeds.fr = self.CS.cp.vl[0x1D0]['WHEEL_SPEED_FR']
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ret.wheelSpeeds.rl = self.CS.cp.vl[0x1D0]['WHEEL_SPEED_RL']
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ret.wheelSpeeds.rr = self.CS.cp.vl[0x1D0]['WHEEL_SPEED_RR']
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# gas pedal
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ret.gas = self.CS.car_gas / 256.0
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if not self.CP.enableGas:
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ret.gasPressed = self.CS.pedal_gas > 0
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else:
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ret.gasPressed = self.CS.user_gas_pressed
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# brake pedal
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ret.brake = self.CS.user_brake
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ret.brakePressed = self.CS.brake_pressed != 0
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# steering wheel
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# TODO: units
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ret.steeringAngle = self.CS.angle_steers
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if self.CS.accord:
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# TODO: move this into the CAN parser
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ret.steeringTorque = 0
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if len(self.accord_msg) > 0:
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aa = map(lambda x: ord(x)&0x7f, self.accord_msg[0][2])
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if len(aa) != 5 or (-(aa[0]+aa[1]+aa[2]+aa[3]))&0x7f != aa[4]:
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print "ACCORD MSG BAD LEN OR CHECKSUM!"
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# TODO: throw an error here?
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else:
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st = ((aa[0]&0xF) << 5) + (aa[1]&0x1F)
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if st >= 256:
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st = -(512-st)
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ret.steeringTorque = st
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ret.steeringPressed = abs(ret.steeringTorque) > 20
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else:
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ret.steeringTorque = self.CS.cp.vl[0x18F]['STEER_TORQUE_SENSOR']
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ret.steeringPressed = self.CS.steer_override
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# cruise state
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ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
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ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
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# TODO: button presses
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buttonEvents = []
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if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
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be = car.CarState.ButtonEvent.new_message()
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be.type = 'leftBlinker'
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be.pressed = self.CS.left_blinker_on != 0
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buttonEvents.append(be)
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if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
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be = car.CarState.ButtonEvent.new_message()
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be.type = 'rightBlinker'
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be.pressed = self.CS.right_blinker_on != 0
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buttonEvents.append(be)
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if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
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be = car.CarState.ButtonEvent.new_message()
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be.type = 'unknown'
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if self.CS.cruise_buttons != 0:
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be.pressed = True
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but = self.CS.cruise_buttons
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else:
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be.pressed = False
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but = self.CS.prev_cruise_buttons
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if but == CruiseButtons.RES_ACCEL:
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be.type = 'accelCruise'
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elif but == CruiseButtons.DECEL_SET:
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be.type = 'decelCruise'
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elif but == CruiseButtons.CANCEL:
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be.type = 'cancel'
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elif but == CruiseButtons.MAIN:
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be.type = 'altButton3'
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buttonEvents.append(be)
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if self.CS.cruise_setting != self.CS.prev_cruise_setting:
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be = car.CarState.ButtonEvent.new_message()
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be.type = 'unknown'
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if self.CS.cruise_setting != 0:
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be.pressed = True
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but = self.CS.cruise_setting
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else:
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be.pressed = False
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but = self.CS.prev_cruise_setting
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if but == 1:
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be.type = 'altButton1'
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# TODO: more buttons?
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buttonEvents.append(be)
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ret.buttonEvents = buttonEvents
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# errors
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# TODO: I don't like the way capnp does enums
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# These strings aren't checked at compile time
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errors = []
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if not self.CS.can_valid:
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self.can_invalid_count += 1
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if self.can_invalid_count >= 5:
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errors.append('commIssue')
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else:
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self.can_invalid_count = 0
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if self.CS.steer_error:
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errors.append('steerUnavailable')
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elif self.CS.steer_not_allowed:
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errors.append('steerTemporarilyUnavailable')
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if self.CS.brake_error:
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errors.append('brakeUnavailable')
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if not self.CS.gear_shifter_valid:
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errors.append('wrongGear')
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if not self.CS.door_all_closed:
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errors.append('doorOpen')
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if not self.CS.seatbelt:
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errors.append('seatbeltNotLatched')
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if self.CS.esp_disabled:
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errors.append('espDisabled')
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if not self.CS.main_on:
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errors.append('wrongCarMode')
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if self.CS.gear_shifter == 2:
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errors.append('reverseGear')
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ret.errors = errors
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ret.canMonoTimes = canMonoTimes
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# cast to reader so it can't be modified
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#print ret
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return ret.as_reader()
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# pass in a car.CarControl
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# to be called @ 100hz
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def apply(self, c):
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#print c
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if c.hudControl.speedVisible:
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hud_v_cruise = c.hudControl.setSpeed * CV.MS_TO_KPH
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else:
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hud_v_cruise = 255
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hud_alert = {
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"none": AH.NONE,
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"fcw": AH.FCW,
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"steerRequired": AH.STEER,
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"brakePressed": AH.BRAKE_PRESSED,
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"wrongGear": AH.GEAR_NOT_D,
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"seatbeltUnbuckled": AH.SEATBELT,
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"speedTooHigh": AH.SPEED_TOO_HIGH}[str(c.hudControl.visualAlert)]
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snd_beep, snd_chime = {
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"none": (BP.MUTE, CM.MUTE),
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"beepSingle": (BP.SINGLE, CM.MUTE),
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"beepTriple": (BP.TRIPLE, CM.MUTE),
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"beepRepeated": (BP.REPEATED, CM.MUTE),
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"chimeSingle": (BP.MUTE, CM.SINGLE),
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"chimeDouble": (BP.MUTE, CM.DOUBLE),
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"chimeRepeated": (BP.MUTE, CM.REPEATED),
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"chimeContinuous": (BP.MUTE, CM.CONTINUOUS)}[str(c.hudControl.audibleAlert)]
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pcm_accel = int(np.clip(c.cruiseControl.accelOverride/1.4,0,1)*0xc6)
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self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, \
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c.gas, c.brake, c.steeringTorque, \
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c.cruiseControl.speedOverride, \
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c.cruiseControl.override, \
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c.cruiseControl.cancel, \
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pcm_accel, \
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hud_v_cruise, c.hudControl.lanesVisible, \
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hud_show_car = c.hudControl.leadVisible, \
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hud_alert = hud_alert, \
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snd_beep = snd_beep, \
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snd_chime = snd_chime)
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self.frame += 1
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return not (c.enabled and not self.CC.controls_allowed)
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