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363 lines
14 KiB
363 lines
14 KiB
import copy
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from collections import deque
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from cereal import car
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from opendbc.can.can_define import CANDefine
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from selfdrive.car.interfaces import CarStateBase
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from selfdrive.config import Conversions as CV
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from opendbc.can.parser import CANParser
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from selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
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TORQUE_SAMPLES = 12
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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.lkas_hud_msg = None
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self.lkas_hud_info_msg = None
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self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
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self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
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def update(self, cp, cp_adas, cp_cam):
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ret = car.CarState.new_message()
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if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
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ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
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elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
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ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"]
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ret.gasPressed = bool(ret.gas > 3)
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if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
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ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
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elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
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ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"])
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ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS
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ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS
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ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS
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ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] * CV.KPH_TO_MS
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ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = ret.vEgoRaw < 0.01
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if self.CP.carFingerprint == CAR.ALTIMA:
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ret.cruiseState.enabled = bool(cp.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
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else:
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ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
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if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
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ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
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ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
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elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
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if self.CP.carFingerprint == CAR.LEAF:
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ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
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elif self.CP.carFingerprint == CAR.LEAF_IC:
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ret.seatbeltUnlatched = cp.vl["CANCEL_MSG"]["CANCEL_SEATBELT"] == 1
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ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"])
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elif self.CP.carFingerprint == CAR.ALTIMA:
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ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
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ret.cruiseState.available = bool(cp_adas.vl["PRO_PILOT"]["CRUISE_ON"])
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if self.CP.carFingerprint == CAR.ALTIMA:
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speed = cp.vl["PROPILOT_HUD"]["SET_SPEED"]
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else:
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speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
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if speed != 255:
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if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
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conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
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else:
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conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
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speed -= 1 # Speed on HUD is always 1 lower than actually sent on can bus
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ret.cruiseState.speed = speed * conversion
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if self.CP.carFingerprint == CAR.ALTIMA:
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ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
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else:
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ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
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self.steeringTorqueSamples.append(ret.steeringTorque)
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# Filtering driver torque to prevent steeringPressed false positives
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ret.steeringPressed = bool(abs(sum(self.steeringTorqueSamples) / TORQUE_SAMPLES) > CarControllerParams.STEER_THRESHOLD)
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ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"]
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ret.leftBlinker = bool(cp.vl["LIGHTS"]["LEFT_BLINKER"])
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ret.rightBlinker = bool(cp.vl["LIGHTS"]["RIGHT_BLINKER"])
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ret.doorOpen = any([cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_RR"],
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cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_RL"],
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cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FR"],
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cp.vl["DOORS_LIGHTS"]["DOOR_OPEN_FL"]])
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ret.espDisabled = bool(cp.vl["ESP"]["ESP_DISABLED"])
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can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
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if self.CP.carFingerprint == CAR.ALTIMA:
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self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
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else:
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self.lkas_enabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
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self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
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if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
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self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"])
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if self.CP.carFingerprint != CAR.ALTIMA:
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self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
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self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
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return ret
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@staticmethod
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def get_can_parser(CP):
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# this function generates lists for signal, messages and initial values
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signals = [
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# sig_name, sig_address, default
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("WHEEL_SPEED_FL", "WHEEL_SPEEDS_FRONT", 0),
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("WHEEL_SPEED_FR", "WHEEL_SPEEDS_FRONT", 0),
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("WHEEL_SPEED_RL", "WHEEL_SPEEDS_REAR", 0),
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("WHEEL_SPEED_RR", "WHEEL_SPEEDS_REAR", 0),
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("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
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("DOOR_OPEN_FR", "DOORS_LIGHTS", 1),
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("DOOR_OPEN_FL", "DOORS_LIGHTS", 1),
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("DOOR_OPEN_RR", "DOORS_LIGHTS", 1),
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("DOOR_OPEN_RL", "DOORS_LIGHTS", 1),
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("RIGHT_BLINKER", "LIGHTS", 0),
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("LEFT_BLINKER", "LIGHTS", 0),
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("ESP_DISABLED", "ESP", 0),
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("GEAR_SHIFTER", "GEARBOX", 0),
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]
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checks = [
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# sig_address, frequency
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("STEER_ANGLE_SENSOR", 100),
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("WHEEL_SPEEDS_REAR", 50),
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("WHEEL_SPEEDS_FRONT", 50),
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("ESP", 25),
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("GEARBOX", 25),
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("DOORS_LIGHTS", 10),
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("LIGHTS", 10),
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]
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if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
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signals += [
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("USER_BRAKE_PRESSED", "DOORS_LIGHTS", 1),
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("GAS_PEDAL", "GAS_PEDAL", 0),
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("SEATBELT_DRIVER_LATCHED", "HUD", 0),
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("SPEED_MPH", "HUD", 0),
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("PROPILOT_BUTTON", "CRUISE_THROTTLE", 0),
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("CANCEL_BUTTON", "CRUISE_THROTTLE", 0),
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("GAS_PEDAL_INVERTED", "CRUISE_THROTTLE", 0),
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("SET_BUTTON", "CRUISE_THROTTLE", 0),
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("RES_BUTTON", "CRUISE_THROTTLE", 0),
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("FOLLOW_DISTANCE_BUTTON", "CRUISE_THROTTLE", 0),
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("NO_BUTTON_PRESSED", "CRUISE_THROTTLE", 0),
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("GAS_PEDAL", "CRUISE_THROTTLE", 0),
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("USER_BRAKE_PRESSED", "CRUISE_THROTTLE", 0),
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("NEW_SIGNAL_2", "CRUISE_THROTTLE", 0),
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("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE", 0),
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("unsure1", "CRUISE_THROTTLE", 0),
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("unsure2", "CRUISE_THROTTLE", 0),
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("unsure3", "CRUISE_THROTTLE", 0),
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]
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checks += [
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("GAS_PEDAL", 100),
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("CRUISE_THROTTLE", 50),
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("HUD", 25),
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]
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elif CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
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signals += [
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("USER_BRAKE_PRESSED", "CRUISE_THROTTLE", 1),
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("GAS_PEDAL", "CRUISE_THROTTLE", 0),
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("CRUISE_AVAILABLE", "CRUISE_THROTTLE", 0),
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("SPEED_MPH", "HUD_SETTINGS", 0),
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("SEATBELT_DRIVER_LATCHED", "SEATBELT", 0),
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# Copy other values, we use this to cancel
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("CANCEL_SEATBELT", "CANCEL_MSG", 0),
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("NEW_SIGNAL_1", "CANCEL_MSG", 0),
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("NEW_SIGNAL_2", "CANCEL_MSG", 0),
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("NEW_SIGNAL_3", "CANCEL_MSG", 0),
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]
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checks += [
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("BRAKE_PEDAL", 100),
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("CRUISE_THROTTLE", 50),
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("CANCEL_MSG", 50),
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("HUD_SETTINGS", 25),
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("SEATBELT", 10),
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]
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if CP.carFingerprint == CAR.ALTIMA:
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signals += [
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("LKAS_ENABLED", "LKAS_SETTINGS", 0),
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("CRUISE_ENABLED", "CRUISE_STATE", 0),
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("SET_SPEED", "PROPILOT_HUD", 0),
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]
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checks += [
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("CRUISE_STATE", 10),
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("LKAS_SETTINGS", 10),
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("PROPILOT_HUD", 50),
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]
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
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signals += [
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("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
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]
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checks += [
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("STEER_TORQUE_SENSOR", 100),
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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_adas_can_parser(CP):
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# this function generates lists for signal, messages and initial values
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if CP.carFingerprint == CAR.ALTIMA:
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signals = [
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("DESIRED_ANGLE", "LKAS", 0),
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("SET_0x80_2", "LKAS", 0),
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("MAX_TORQUE", "LKAS", 0),
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("SET_0x80", "LKAS", 0),
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("COUNTER", "LKAS", 0),
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("LKA_ACTIVE", "LKAS", 0),
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("CRUISE_ON", "PRO_PILOT", 0),
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]
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checks = [
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("LKAS", 100),
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("PRO_PILOT", 100),
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]
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else:
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signals = [
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# sig_name, sig_address, default
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("LKAS_ENABLED", "LKAS_SETTINGS", 0),
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("CRUISE_ENABLED", "CRUISE_STATE", 0),
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("DESIRED_ANGLE", "LKAS", 0),
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("SET_0x80_2", "LKAS", 0),
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("MAX_TORQUE", "LKAS", 0),
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("SET_0x80", "LKAS", 0),
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("COUNTER", "LKAS", 0),
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("LKA_ACTIVE", "LKAS", 0),
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# Below are the HUD messages. We copy the stock message and modify
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("LARGE_WARNING_FLASHING", "PROPILOT_HUD", 0),
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("SIDE_RADAR_ERROR_FLASHING1", "PROPILOT_HUD", 0),
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("SIDE_RADAR_ERROR_FLASHING2", "PROPILOT_HUD", 0),
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("LEAD_CAR", "PROPILOT_HUD", 0),
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("LEAD_CAR_ERROR", "PROPILOT_HUD", 0),
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("FRONT_RADAR_ERROR", "PROPILOT_HUD", 0),
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("FRONT_RADAR_ERROR_FLASHING", "PROPILOT_HUD", 0),
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("SIDE_RADAR_ERROR_FLASHING3", "PROPILOT_HUD", 0),
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("LKAS_ERROR_FLASHING", "PROPILOT_HUD", 0),
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("SAFETY_SHIELD_ACTIVE", "PROPILOT_HUD", 0),
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("RIGHT_LANE_GREEN_FLASH", "PROPILOT_HUD", 0),
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("LEFT_LANE_GREEN_FLASH", "PROPILOT_HUD", 0),
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("FOLLOW_DISTANCE", "PROPILOT_HUD", 0),
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("AUDIBLE_TONE", "PROPILOT_HUD", 0),
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("SPEED_SET_ICON", "PROPILOT_HUD", 0),
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("SMALL_STEERING_WHEEL_ICON", "PROPILOT_HUD", 0),
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("unknown59", "PROPILOT_HUD", 0),
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("unknown55", "PROPILOT_HUD", 0),
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("unknown26", "PROPILOT_HUD", 0),
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("unknown28", "PROPILOT_HUD", 0),
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("unknown31", "PROPILOT_HUD", 0),
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("SET_SPEED", "PROPILOT_HUD", 0),
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("unknown43", "PROPILOT_HUD", 0),
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("unknown08", "PROPILOT_HUD", 0),
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("unknown05", "PROPILOT_HUD", 0),
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("unknown02", "PROPILOT_HUD", 0),
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("NA_HIGH_ACCEL_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
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("SIDE_RADAR_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
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("SIDE_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
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("LKAS_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
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("FRONT_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
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("SIDE_RADAR_NA_CLEAN_REAR_CAMERA", "PROPILOT_HUD_INFO_MSG", 0),
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("NA_POOR_ROAD_CONDITIONS", "PROPILOT_HUD_INFO_MSG", 0),
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("CURRENTLY_UNAVAILABLE", "PROPILOT_HUD_INFO_MSG", 0),
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("SAFETY_SHIELD_OFF", "PROPILOT_HUD_INFO_MSG", 0),
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("FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG", 0),
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("PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", "PROPILOT_HUD_INFO_MSG", 0),
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("SIDE_IMPACT_NA_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG", 0),
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("WARNING_DO_NOT_ENTER", "PROPILOT_HUD_INFO_MSG", 0),
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("SIDE_IMPACT_SYSTEM_OFF", "PROPILOT_HUD_INFO_MSG", 0),
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("SIDE_IMPACT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
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("FRONT_COLLISION_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
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("SIDE_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
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("LKAS_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
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("FRONT_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
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("PROPILOT_NA_MSGS", "PROPILOT_HUD_INFO_MSG", 0),
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("BOTTOM_MSG", "PROPILOT_HUD_INFO_MSG", 0),
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("HANDS_ON_WHEEL_WARNING", "PROPILOT_HUD_INFO_MSG", 0),
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("WARNING_STEP_ON_BRAKE_NOW", "PROPILOT_HUD_INFO_MSG", 0),
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("PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", "PROPILOT_HUD_INFO_MSG", 0),
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("PROPILOT_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
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("WARNING_PROPILOT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
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("ACC_UNAVAILABLE_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
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("ACC_NA_FRONT_CAMERA_IMPARED", "PROPILOT_HUD_INFO_MSG", 0),
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("unknown07", "PROPILOT_HUD_INFO_MSG", 0),
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("unknown10", "PROPILOT_HUD_INFO_MSG", 0),
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("unknown15", "PROPILOT_HUD_INFO_MSG", 0),
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("unknown23", "PROPILOT_HUD_INFO_MSG", 0),
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("unknown19", "PROPILOT_HUD_INFO_MSG", 0),
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("unknown31", "PROPILOT_HUD_INFO_MSG", 0),
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("unknown32", "PROPILOT_HUD_INFO_MSG", 0),
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("unknown46", "PROPILOT_HUD_INFO_MSG", 0),
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("unknown61", "PROPILOT_HUD_INFO_MSG", 0),
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("unknown55", "PROPILOT_HUD_INFO_MSG", 0),
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("unknown50", "PROPILOT_HUD_INFO_MSG", 0),
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]
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checks = [
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("PROPILOT_HUD_INFO_MSG", 2),
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("LKAS_SETTINGS", 10),
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("CRUISE_STATE", 50),
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("PROPILOT_HUD", 50),
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("LKAS", 100),
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]
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
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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 in [CAR.ROGUE, CAR.XTRAIL]:
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signals += [
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("CRUISE_ON", "PRO_PILOT", 0),
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]
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checks += [
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("PRO_PILOT", 100),
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]
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elif CP.carFingerprint == CAR.ALTIMA:
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signals += [
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("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
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]
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checks += [
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("STEER_TORQUE_SENSOR", 100),
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]
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
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