You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
39 lines
1.3 KiB
39 lines
1.3 KiB
from opendbc.can.parser import CANParser
|
|
from openpilot.selfdrive.car import structs
|
|
from openpilot.selfdrive.car.interfaces import CarStateBase
|
|
from openpilot.selfdrive.car.body.values import DBC
|
|
|
|
|
|
class CarState(CarStateBase):
|
|
def update(self, cp, *_) -> structs.CarState:
|
|
ret = structs.CarState()
|
|
|
|
ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']
|
|
ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R']
|
|
|
|
ret.vEgoRaw = ((ret.wheelSpeeds.fl + ret.wheelSpeeds.fr) / 2.) * self.CP.wheelSpeedFactor
|
|
|
|
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
|
ret.standstill = False
|
|
|
|
ret.steerFaultPermanent = any([cp.vl['VAR_VALUES']['MOTOR_ERR_L'], cp.vl['VAR_VALUES']['MOTOR_ERR_R'],
|
|
cp.vl['VAR_VALUES']['FAULT']])
|
|
|
|
ret.charging = cp.vl["BODY_DATA"]["CHARGER_CONNECTED"] == 1
|
|
ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100
|
|
|
|
# irrelevant for non-car
|
|
ret.gearShifter = structs.CarState.GearShifter.drive
|
|
ret.cruiseState.enabled = True
|
|
ret.cruiseState.available = True
|
|
|
|
return ret
|
|
|
|
@staticmethod
|
|
def get_can_parser(CP):
|
|
messages = [
|
|
("MOTORS_DATA", 100),
|
|
("VAR_VALUES", 10),
|
|
("BODY_DATA", 1),
|
|
]
|
|
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
|
|
|