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313 lines
13 KiB
313 lines
13 KiB
import copy
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from cereal import car
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from common.conversions import Conversions as CV
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from common.numpy_fast import mean
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from common.filter_simple import FirstOrderFilter
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from common.realtime import DT_CTRL
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from opendbc.can.can_define import CANDefine
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from opendbc.can.parser import CANParser
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from selfdrive.car.interfaces import CarStateBase
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from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
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SteerControlType = car.CarParams.SteerControlType
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# These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
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# - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
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# - lka/lta msg drop out: goes to 9 then 11 for a combined total of 2 seconds, then 3.
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# if using the other control command, goes directly to 3 after 1.5 seconds
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# - initializing: LTA can report 0 as long as STEER_TORQUE_SENSOR->STEER_ANGLE_INITIALIZING is 1,
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# and is a catch-all for LKA
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TEMP_STEER_FAULTS = (0, 9, 11, 21, 25)
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# - lka/lta msg drop out: 3 (recoverable)
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# - prolonged high driver torque: 17 (permanent)
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PERM_STEER_FAULTS = (3, 17)
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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["GEAR_PACKET"]["GEAR"]
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self.eps_torque_scale = EPS_SCALE[CP.carFingerprint] / 100.
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self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2.
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self.cluster_min_speed = CV.KPH_TO_MS / 2.
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# On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
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# the signal is zeroed to where the steering angle is at start.
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# Need to apply an offset as soon as the steering angle measurements are both received
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self.accurate_steer_angle_seen = False
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self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False)
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self.low_speed_lockout = False
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self.acc_type = 1
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self.lkas_hud = {}
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def update(self, cp, cp_cam):
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ret = car.CarState.new_message()
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ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"],
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cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RR"]])
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ret.seatbeltUnlatched = cp.vl["BODY_CONTROL_STATE"]["SEATBELT_DRIVER_UNLATCHED"] != 0
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ret.parkingBrake = cp.vl["BODY_CONTROL_STATE"]["PARKING_BRAKE"] == 1
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ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
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ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
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if self.CP.enableGasInterceptor:
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ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
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ret.gasPressed = ret.gas > 805
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else:
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# TODO: find a new, common signal
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msg = "GAS_PEDAL_HYBRID" if (self.CP.flags & ToyotaFlags.HYBRID) else "GAS_PEDAL"
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ret.gas = cp.vl[msg]["GAS_PEDAL"]
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ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
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ret.wheelSpeeds = self.get_wheel_speeds(
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cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
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cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
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cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
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cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
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)
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ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.vEgoCluster = ret.vEgo * 1.015 # minimum of all the cars
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ret.standstill = ret.vEgoRaw == 0
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ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
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torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
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# On some cars, the angle measurement is non-zero while initializing
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if abs(torque_sensor_angle_deg) > 1e-3 and not bool(cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE_INITIALIZING"]):
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self.accurate_steer_angle_seen = True
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if self.accurate_steer_angle_seen:
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# Offset seems to be invalid for large steering angles
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if abs(ret.steeringAngleDeg) < 90 and cp.can_valid:
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self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg)
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if self.angle_offset.initialized:
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ret.steeringAngleOffsetDeg = self.angle_offset.x
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ret.steeringAngleDeg = torque_sensor_angle_deg - self.angle_offset.x
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ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]
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can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
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ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
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ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
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ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
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ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
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# we could use the override bit from dbc, but it's triggered at too high torque values
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ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
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# Check EPS LKA/LTA fault status
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ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in TEMP_STEER_FAULTS
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ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in PERM_STEER_FAULTS
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if self.CP.steerControlType == SteerControlType.angle:
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ret.steerFaultTemporary = ret.steerFaultTemporary or cp.vl["EPS_STATUS"]["LTA_STATE"] in TEMP_STEER_FAULTS
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ret.steerFaultPermanent = ret.steerFaultPermanent or cp.vl["EPS_STATUS"]["LTA_STATE"] in PERM_STEER_FAULTS
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if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
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# TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH
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ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
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ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
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cluster_set_speed = cp.vl["PCM_CRUISE_ALT"]["UI_SET_SPEED"]
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else:
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ret.accFaulted = cp.vl["PCM_CRUISE_2"]["ACC_FAULTED"] != 0
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ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
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ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
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cluster_set_speed = cp.vl["PCM_CRUISE_SM"]["UI_SET_SPEED"]
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# UI_SET_SPEED is always non-zero when main is on, hide until first enable
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if ret.cruiseState.speed != 0:
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is_metric = cp.vl["BODY_CONTROL_STATE_2"]["UNITS"] in (1, 2)
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conversion_factor = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS
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ret.cruiseState.speedCluster = cluster_set_speed * conversion_factor
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cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
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if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR):
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if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
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self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
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ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"])
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# some TSS2 cars have low speed lockout permanently set, so ignore on those cars
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# these cars are identified by an ACC_TYPE value of 2.
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# TODO: it is possible to avoid the lockout and gain stop and go if you
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# send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1
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if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR) or \
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(self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1):
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self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
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self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"]
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if self.CP.carFingerprint not in (NO_STOP_TIMER_CAR - TSS2_CAR):
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# ignore standstill state in certain vehicles, since pcm allows to restart with just an acceleration request
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ret.cruiseState.standstill = self.pcm_acc_status == 7
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ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
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ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)
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ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
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ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
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if not self.CP.enableDsu:
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ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
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if self.CP.enableBsm:
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ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
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ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
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if self.CP.carFingerprint != CAR.PRIUS_V:
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self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
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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_ANGLE", "STEER_ANGLE_SENSOR"),
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("GEAR", "GEAR_PACKET"),
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("BRAKE_PRESSED", "BRAKE_MODULE"),
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("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
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("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
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("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
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("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
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("DOOR_OPEN_FL", "BODY_CONTROL_STATE"),
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("DOOR_OPEN_FR", "BODY_CONTROL_STATE"),
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("DOOR_OPEN_RL", "BODY_CONTROL_STATE"),
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("DOOR_OPEN_RR", "BODY_CONTROL_STATE"),
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("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE"),
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("PARKING_BRAKE", "BODY_CONTROL_STATE"),
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("UNITS", "BODY_CONTROL_STATE_2"),
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("TC_DISABLED", "ESP_CONTROL"),
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("BRAKE_HOLD_ACTIVE", "ESP_CONTROL"),
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("STEER_FRACTION", "STEER_ANGLE_SENSOR"),
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("STEER_RATE", "STEER_ANGLE_SENSOR"),
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("CRUISE_ACTIVE", "PCM_CRUISE"),
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("CRUISE_STATE", "PCM_CRUISE"),
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("GAS_RELEASED", "PCM_CRUISE"),
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("UI_SET_SPEED", "PCM_CRUISE_SM"),
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("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"),
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("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR"),
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("STEER_ANGLE", "STEER_TORQUE_SENSOR"),
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("STEER_ANGLE_INITIALIZING", "STEER_TORQUE_SENSOR"),
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("TURN_SIGNALS", "BLINKERS_STATE"),
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("LKA_STATE", "EPS_STATUS"),
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("AUTO_HIGH_BEAM", "LIGHT_STALK"),
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]
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# Check LTA state if using LTA angle control
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if CP.steerControlType == SteerControlType.angle:
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signals.append(("LTA_STATE", "EPS_STATUS"))
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checks = [
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("GEAR_PACKET", 1),
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("LIGHT_STALK", 1),
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("BLINKERS_STATE", 0.15),
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("BODY_CONTROL_STATE", 3),
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("BODY_CONTROL_STATE_2", 2),
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("ESP_CONTROL", 3),
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("EPS_STATUS", 25),
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("BRAKE_MODULE", 40),
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("WHEEL_SPEEDS", 80),
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("STEER_ANGLE_SENSOR", 80),
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("PCM_CRUISE", 33),
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("PCM_CRUISE_SM", 1),
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("STEER_TORQUE_SENSOR", 50),
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]
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if CP.flags & ToyotaFlags.HYBRID:
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signals.append(("GAS_PEDAL", "GAS_PEDAL_HYBRID"))
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checks.append(("GAS_PEDAL_HYBRID", 33))
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else:
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signals.append(("GAS_PEDAL", "GAS_PEDAL"))
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checks.append(("GAS_PEDAL", 33))
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if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
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signals.append(("MAIN_ON", "DSU_CRUISE"))
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signals.append(("SET_SPEED", "DSU_CRUISE"))
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signals.append(("UI_SET_SPEED", "PCM_CRUISE_ALT"))
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checks.append(("DSU_CRUISE", 5))
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checks.append(("PCM_CRUISE_ALT", 1))
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else:
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signals.append(("MAIN_ON", "PCM_CRUISE_2"))
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signals.append(("SET_SPEED", "PCM_CRUISE_2"))
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signals.append(("ACC_FAULTED", "PCM_CRUISE_2"))
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signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2"))
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checks.append(("PCM_CRUISE_2", 33))
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# add gas interceptor reading if we are using it
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if CP.enableGasInterceptor:
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signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR"))
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signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR"))
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checks.append(("GAS_SENSOR", 50))
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if CP.enableBsm:
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signals += [
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("L_ADJACENT", "BSM"),
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("L_APPROACHING", "BSM"),
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("R_ADJACENT", "BSM"),
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("R_APPROACHING", "BSM"),
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]
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checks.append(("BSM", 1))
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if CP.carFingerprint in RADAR_ACC_CAR:
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if not CP.flags & ToyotaFlags.SMART_DSU.value:
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signals += [
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("ACC_TYPE", "ACC_CONTROL"),
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]
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checks += [
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("ACC_CONTROL", 33),
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]
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signals += [
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("FCW", "ACC_HUD"),
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]
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checks += [
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("ACC_HUD", 1),
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]
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if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu:
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signals += [
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("FORCE", "PRE_COLLISION"),
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("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
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]
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checks += [
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("PRE_COLLISION", 33),
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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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signals = []
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checks = []
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if CP.carFingerprint != CAR.PRIUS_V:
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signals += [
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("LANE_SWAY_FLD", "LKAS_HUD"),
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("LANE_SWAY_BUZZER", "LKAS_HUD"),
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("LANE_SWAY_WARNING", "LKAS_HUD"),
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("LANE_SWAY_SENSITIVITY", "LKAS_HUD"),
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("LANE_SWAY_TOGGLE", "LKAS_HUD"),
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]
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checks += [
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("LKAS_HUD", 1),
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]
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if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
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signals += [
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("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
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("FORCE", "PRE_COLLISION"),
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("ACC_TYPE", "ACC_CONTROL"),
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("FCW", "ACC_HUD"),
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]
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checks += [
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("PRE_COLLISION", 33),
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("ACC_CONTROL", 33),
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("ACC_HUD", 1),
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]
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
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