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125 lines
4.6 KiB
125 lines
4.6 KiB
import copy
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from opendbc.can.parser import CANParser
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from opendbc.car import Bus, structs
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from opendbc.car.interfaces import CarStateBase
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from opendbc.car.rivian.values import DBC, GEAR_MAP
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from opendbc.car.common.conversions import Conversions as CV
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GearShifter = structs.CarState.GearShifter
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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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self.last_speed = 30
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self.acm_lka_hba_cmd = None
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self.sccm_wheel_touch = None
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self.vdm_adas_status = None
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def update(self, can_parsers) -> structs.CarState:
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cp = can_parsers[Bus.pt]
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cp_cam = can_parsers[Bus.cam]
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cp_adas = can_parsers[Bus.adas]
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ret = structs.CarState()
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# Vehicle speed
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ret.vEgoRaw = cp.vl["ESP_Status"]["ESP_Vehicle_Speed"] * CV.KPH_TO_MS
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = abs(ret.vEgoRaw) < 0.01
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# Gas pedal
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pedal_status = cp.vl["VDM_PropStatus"]["VDM_AcceleratorPedalPosition"]
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ret.gas = pedal_status / 100.0
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ret.gasPressed = pedal_status > 0
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# Brake pedal
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ret.brake = cp.vl["ESPiB3"]["ESPiB3_pMC1"] / 250.0 # pressure in Bar
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ret.brakePressed = cp.vl["iBESP2"]["iBESP2_BrakePedalApplied"] == 1
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# Steering wheel
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ret.steeringAngleDeg = cp.vl["EPAS_AdasStatus"]["EPAS_InternalSas"]
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ret.steeringRateDeg = cp.vl["EPAS_AdasStatus"]["EPAS_SteeringAngleSpeed"]
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ret.steeringTorque = cp.vl["EPAS_SystemStatus"]["EPAS_TorsionBarTorque"]
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ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > 1.0, 5)
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ret.steerFaultTemporary = cp.vl["EPAS_AdasStatus"]["EPAS_EacErrorCode"] != 0
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# Cruise state
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speed = min(int(cp_adas.vl["ACM_tsrCmd"]["ACM_tsrSpdDisClsMain"]), 85)
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self.last_speed = speed if speed != 0 else self.last_speed
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ret.cruiseState.enabled = cp_cam.vl["ACM_Status"]["ACM_FeatureStatus"] == 1
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# TODO: find cruise set speed on CAN
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ret.cruiseState.speed = self.last_speed * CV.MPH_TO_MS # detected speed limit
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if not self.CP.openpilotLongitudinalControl:
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ret.cruiseState.speed = -1
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ret.cruiseState.available = True # cp.vl["VDM_AdasSts"]["VDM_AdasInterfaceStatus"] == 1
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ret.cruiseState.standstill = cp.vl["VDM_AdasSts"]["VDM_AdasAccelRequestAcknowledged"] == 1
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# TODO: log ACM_Unkown2=3 as a fault. need to filter it at the start and end of routes though
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# ACM_FaultStatus hasn't been seen yet
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ret.accFaulted = (cp_cam.vl["ACM_Status"]["ACM_FaultStatus"] == 1 or
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# VDM_AdasFaultStatus=Brk_Intv is the default for some reason
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# VDM_AdasFaultStatus=Imps_Cmd was seen when sending it rapidly changing ACC enable commands
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# VDM_AdasFaultStatus=Cntr_Fault isn't fully understood, but we've seen it in the wild
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cp.vl["VDM_AdasSts"]["VDM_AdasFaultStatus"] in (3,)) # 3=Imps_Cmd
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# Gear
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ret.gearShifter = GEAR_MAP.get(int(cp.vl["VDM_PropStatus"]["VDM_Prndl_Status"]), GearShifter.unknown)
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# Doors
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ret.doorOpen = any(cp_adas.vl["IndicatorLights"][door] != 2 for door in ("RearDriverDoor", "FrontPassengerDoor", "DriverDoor", "RearPassengerDoor"))
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# Blinkers
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ret.leftBlinker = cp_adas.vl["IndicatorLights"]["TurnLightLeft"] in (1, 2)
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ret.rightBlinker = cp_adas.vl["IndicatorLights"]["TurnLightRight"] in (1, 2)
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# Seatbelt
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ret.seatbeltUnlatched = cp.vl["RCM_Status"]["RCM_Status_IND_WARN_BELT_DRIVER"] != 0
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# Blindspot
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# ret.leftBlindspot = False
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# ret.rightBlindspot = False
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# AEB
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ret.stockAeb = cp_cam.vl["ACM_AebRequest"]["ACM_EnableRequest"] != 0
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# Messages needed by carcontroller
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self.acm_lka_hba_cmd = copy.copy(cp_cam.vl["ACM_lkaHbaCmd"])
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self.sccm_wheel_touch = copy.copy(cp.vl["SCCM_WheelTouch"])
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self.vdm_adas_status = copy.copy(cp.vl["VDM_AdasSts"])
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return ret
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@staticmethod
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def get_can_parsers(CP):
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pt_messages = [
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# sig_address, frequency
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("ESP_Status", 50),
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("VDM_PropStatus", 50),
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("iBESP2", 50),
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("ESPiB3", 50),
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("EPAS_AdasStatus", 100),
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("EPAS_SystemStatus", 100),
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("RCM_Status", 8),
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("VDM_AdasSts", 100),
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("SCCM_WheelTouch", 20),
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]
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cam_messages = [
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("ACM_longitudinalRequest", 100),
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("ACM_AebRequest", 100),
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("ACM_Status", 100),
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("ACM_lkaHbaCmd", 100)
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]
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adas_messages = [
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("IndicatorLights", 10),
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("ACM_tsrCmd", 10),
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]
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return {
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Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
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Bus.adas: CANParser(DBC[CP.carFingerprint][Bus.pt], adas_messages, 1),
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Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, 2),
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}
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