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146 lines
6.0 KiB
146 lines
6.0 KiB
import copy
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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 opendbc.car import Bus, structs
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from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.interfaces import CarStateBase
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from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD
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ButtonType = structs.CarState.ButtonEvent.Type
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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.can_define = CANDefine(DBC[CP.carFingerprint][Bus.party])
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self.shifter_values = self.can_define.dv["DI_systemStatus"]["DI_gear"]
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self.autopark = False
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self.autopark_prev = False
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self.cruise_enabled_prev = False
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self.hands_on_level = 0
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self.das_control = None
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def update_autopark_state(self, autopark_state: str, cruise_enabled: bool):
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autopark_now = autopark_state in ("ACTIVE", "COMPLETE", "SELFPARK_STARTED")
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if autopark_now and not self.autopark_prev and not self.cruise_enabled_prev:
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self.autopark = True
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if not autopark_now:
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self.autopark = False
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self.autopark_prev = autopark_now
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self.cruise_enabled_prev = cruise_enabled
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def update(self, can_parsers) -> structs.CarState:
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cp_party = can_parsers[Bus.party]
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cp_ap_party = can_parsers[Bus.ap_party]
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ret = structs.CarState()
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# Vehicle speed
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ret.vEgoRaw = cp_party.vl["DI_speed"]["DI_vehicleSpeed"] * CV.KPH_TO_MS
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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# Gas pedal
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pedal_status = cp_party.vl["DI_systemStatus"]["DI_accelPedalPos"]
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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 = 0
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ret.brakePressed = cp_party.vl["IBST_status"]["IBST_driverBrakeApply"] == 2
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# Steering wheel
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epas_status = cp_party.vl["EPAS3S_sysStatus"]
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self.hands_on_level = epas_status["EPAS3S_handsOnLevel"]
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ret.steeringAngleDeg = -epas_status["EPAS3S_internalSAS"]
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ret.steeringRateDeg = -cp_ap_party.vl["SCCM_steeringAngleSensor"]["SCCM_steeringAngleSpeed"]
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ret.steeringTorque = -epas_status["EPAS3S_torsionBarTorque"]
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# stock handsOnLevel uses >0.5 for 0.25s, but is too slow
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ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > STEER_THRESHOLD, 5)
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eac_status = self.can_define.dv["EPAS3S_sysStatus"]["EPAS3S_eacStatus"].get(int(epas_status["EPAS3S_eacStatus"]), None)
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ret.steerFaultPermanent = eac_status == "EAC_FAULT"
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ret.steerFaultTemporary = eac_status == "EAC_INHIBITED"
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# FSD disengages using union of handsOnLevel (slow overrides) and high angle rate faults (fast overrides, high speed)
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eac_error_code = self.can_define.dv["EPAS3S_sysStatus"]["EPAS3S_eacErrorCode"].get(int(epas_status["EPAS3S_eacErrorCode"]), None)
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ret.steeringDisengage = self.hands_on_level >= 3 or (eac_status == "EAC_INHIBITED" and
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eac_error_code == "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY")
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# Cruise state
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cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp_party.vl["DI_state"]["DI_cruiseState"]), None)
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speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp_party.vl["DI_state"]["DI_speedUnits"]), None)
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autopark_state = self.can_define.dv["DI_state"]["DI_autoparkState"].get(int(cp_party.vl["DI_state"]["DI_autoparkState"]), None)
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cruise_enabled = cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")
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self.update_autopark_state(autopark_state, cruise_enabled)
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# Match panda safety cruise engaged logic
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ret.cruiseState.enabled = cruise_enabled and not self.autopark
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if speed_units == "KPH":
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ret.cruiseState.speed = max(cp_party.vl["DI_state"]["DI_digitalSpeed"] * CV.KPH_TO_MS, 1e-3)
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elif speed_units == "MPH":
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ret.cruiseState.speed = max(cp_party.vl["DI_state"]["DI_digitalSpeed"] * CV.MPH_TO_MS, 1e-3)
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ret.cruiseState.available = cruise_state == "STANDBY" or ret.cruiseState.enabled
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ret.cruiseState.standstill = False # This needs to be false, since we can resume from stop without sending anything special
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ret.standstill = cruise_state == "STANDSTILL"
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ret.accFaulted = cruise_state == "FAULT"
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# Gear
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ret.gearShifter = GEAR_MAP[self.can_define.dv["DI_systemStatus"]["DI_gear"].get(int(cp_party.vl["DI_systemStatus"]["DI_gear"]), "DI_GEAR_INVALID")]
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# Doors
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ret.doorOpen = cp_party.vl["UI_warning"]["anyDoorOpen"] == 1
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# Blinkers
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ret.leftBlinker = cp_party.vl["UI_warning"]["leftBlinkerBlinking"] in (1, 2)
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ret.rightBlinker = cp_party.vl["UI_warning"]["rightBlinkerBlinking"] in (1, 2)
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# Seatbelt
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ret.seatbeltUnlatched = cp_party.vl["UI_warning"]["buckleStatus"] != 1
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# Blindspot
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ret.leftBlindspot = cp_ap_party.vl["DAS_status"]["DAS_blindSpotRearLeft"] != 0
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ret.rightBlindspot = cp_ap_party.vl["DAS_status"]["DAS_blindSpotRearRight"] != 0
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# AEB
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ret.stockAeb = cp_ap_party.vl["DAS_control"]["DAS_aebEvent"] == 1
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# LKAS
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ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == 2 # LANE_KEEP_ASSIST
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# Stock Autosteer should be off (includes FSD)
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ret.invalidLkasSetting = cp_ap_party.vl["DAS_settings"]["DAS_autosteerEnabled"] != 0
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# Buttons # ToDo: add Gap adjust button
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# Messages needed by carcontroller
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self.das_control = copy.copy(cp_ap_party.vl["DAS_control"])
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return ret
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@staticmethod
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def get_can_parsers(CP):
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party_messages = [
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# sig_address, frequency
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("DI_speed", 50),
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("DI_systemStatus", 100),
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("IBST_status", 25),
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("DI_state", 10),
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("EPAS3S_sysStatus", 100),
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("UI_warning", 10)
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]
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ap_party_messages = [
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("DAS_control", 25),
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("DAS_steeringControl", 50),
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("DAS_status", 2),
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("DAS_settings", 2),
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("SCCM_steeringAngleSensor", 100),
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]
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return {
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Bus.party: CANParser(DBC[CP.carFingerprint][Bus.party], party_messages, CANBUS.party),
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Bus.ap_party: CANParser(DBC[CP.carFingerprint][Bus.party], ap_party_messages, CANBUS.autopilot_party)
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}
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