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.
228 lines
8.7 KiB
228 lines
8.7 KiB
import copy
|
|
from cereal import car
|
|
from opendbc.can.can_define import CANDefine
|
|
from opendbc.can.parser import CANParser
|
|
from openpilot.selfdrive.car.conversions import Conversions as CV
|
|
from openpilot.selfdrive.car.interfaces import CarStateBase
|
|
from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags
|
|
from openpilot.selfdrive.car import CanSignalRateCalculator
|
|
|
|
|
|
class CarState(CarStateBase):
|
|
def __init__(self, CP):
|
|
super().__init__(CP)
|
|
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
|
|
self.shifter_values = can_define.dv["Transmission"]["Gear"]
|
|
|
|
self.angle_rate_calulator = CanSignalRateCalculator(50)
|
|
|
|
def update(self, cp, cp_cam, _, cp_body, __):
|
|
ret = car.CarState.new_message()
|
|
|
|
throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_body.vl["Throttle_Hybrid"]
|
|
ret.gas = throttle_msg["Throttle_Pedal"] / 255.
|
|
|
|
ret.gasPressed = ret.gas > 1e-5
|
|
if self.CP.flags & SubaruFlags.PREGLOBAL:
|
|
ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 0
|
|
else:
|
|
cp_brakes = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
|
|
ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1
|
|
|
|
cp_es_distance = cp_body if self.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID) else cp_cam
|
|
if not (self.CP.flags & SubaruFlags.HYBRID):
|
|
eyesight_fault = bool(cp_es_distance.vl["ES_Distance"]["Cruise_Fault"])
|
|
|
|
# if openpilot is controlling long, an eyesight fault is a non-critical fault. otherwise it's an ACC fault
|
|
if self.CP.openpilotLongitudinalControl:
|
|
ret.carFaultedNonCritical = eyesight_fault
|
|
else:
|
|
ret.accFaulted = eyesight_fault
|
|
|
|
cp_wheels = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
|
|
ret.wheelSpeeds = self.get_wheel_speeds(
|
|
cp_wheels.vl["Wheel_Speeds"]["FL"],
|
|
cp_wheels.vl["Wheel_Speeds"]["FR"],
|
|
cp_wheels.vl["Wheel_Speeds"]["RL"],
|
|
cp_wheels.vl["Wheel_Speeds"]["RR"],
|
|
)
|
|
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
|
|
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
|
ret.standstill = ret.vEgoRaw == 0
|
|
|
|
# continuous blinker signals for assisted lane change
|
|
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"],
|
|
cp.vl["Dashlights"]["RIGHT_BLINKER"])
|
|
|
|
if self.CP.enableBsm:
|
|
ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
|
|
ret.rightBlindspot = (cp.vl["BSD_RCTA"]["R_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["R_APPROACHING"] == 1)
|
|
|
|
cp_transmission = cp_body if self.CP.flags & SubaruFlags.HYBRID else cp
|
|
can_gear = int(cp_transmission.vl["Transmission"]["Gear"])
|
|
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
|
|
|
|
ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
|
|
|
|
if not (self.CP.flags & SubaruFlags.PREGLOBAL):
|
|
# ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
|
|
ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, cp.vl["Steering_Torque"]["COUNTER"])
|
|
|
|
ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
|
|
ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
|
|
|
|
steer_threshold = 75 if self.CP.flags & SubaruFlags.PREGLOBAL else 80
|
|
ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
|
|
|
|
cp_cruise = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
|
|
if self.CP.flags & SubaruFlags.HYBRID:
|
|
ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0
|
|
ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
|
|
else:
|
|
ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
|
|
ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
|
|
ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
|
|
|
|
if (self.CP.flags & SubaruFlags.PREGLOBAL and cp.vl["Dash_State2"]["UNITS"] == 1) or \
|
|
(not (self.CP.flags & SubaruFlags.PREGLOBAL) and cp.vl["Dashlights"]["UNITS"] == 1):
|
|
ret.cruiseState.speed *= CV.MPH_TO_KPH
|
|
|
|
ret.seatbeltUnlatched = cp.vl["Dashlights"]["SEATBELT_FL"] == 1
|
|
ret.doorOpen = any([cp.vl["BodyInfo"]["DOOR_OPEN_RR"],
|
|
cp.vl["BodyInfo"]["DOOR_OPEN_RL"],
|
|
cp.vl["BodyInfo"]["DOOR_OPEN_FR"],
|
|
cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
|
|
ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
|
|
|
|
if self.CP.flags & SubaruFlags.PREGLOBAL:
|
|
self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
|
|
self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
|
|
else:
|
|
ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
|
|
ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
|
|
ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
|
|
ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \
|
|
(cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2)
|
|
|
|
self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
|
|
cp_es_brake = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
|
|
self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"])
|
|
cp_es_status = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
|
|
|
|
# TODO: Hybrid cars don't have ES_Distance, need a replacement
|
|
if not (self.CP.flags & SubaruFlags.HYBRID):
|
|
# 8 is known AEB, there are a few other values related to AEB we ignore
|
|
ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \
|
|
(cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
|
|
|
|
self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"])
|
|
self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"])
|
|
|
|
if not (self.CP.flags & SubaruFlags.HYBRID):
|
|
self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
|
|
|
|
self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
|
|
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
|
|
self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
|
|
|
|
return ret
|
|
|
|
@staticmethod
|
|
def get_common_global_body_messages(CP):
|
|
messages = [
|
|
("Wheel_Speeds", 50),
|
|
("Brake_Status", 50),
|
|
]
|
|
|
|
if not (CP.flags & SubaruFlags.HYBRID):
|
|
messages.append(("CruiseControl", 20))
|
|
|
|
return messages
|
|
|
|
@staticmethod
|
|
def get_common_global_es_messages(CP):
|
|
messages = [
|
|
("ES_Brake", 20),
|
|
]
|
|
|
|
if not (CP.flags & SubaruFlags.HYBRID):
|
|
messages += [
|
|
("ES_Distance", 20),
|
|
("ES_Status", 20)
|
|
]
|
|
|
|
return messages
|
|
|
|
@staticmethod
|
|
def get_common_preglobal_body_messages():
|
|
messages = [
|
|
("CruiseControl", 50),
|
|
("Wheel_Speeds", 50),
|
|
("Dash_State2", 1),
|
|
]
|
|
|
|
return messages
|
|
|
|
@staticmethod
|
|
def get_can_parser(CP):
|
|
messages = [
|
|
# sig_address, frequency
|
|
("Dashlights", 10),
|
|
("Steering_Torque", 50),
|
|
("BodyInfo", 1),
|
|
("Brake_Pedal", 50),
|
|
]
|
|
|
|
if not (CP.flags & SubaruFlags.HYBRID):
|
|
messages += [
|
|
("Throttle", 100),
|
|
("Transmission", 100)
|
|
]
|
|
|
|
if CP.enableBsm:
|
|
messages.append(("BSD_RCTA", 17))
|
|
|
|
if not (CP.flags & SubaruFlags.PREGLOBAL):
|
|
if not (CP.flags & SubaruFlags.GLOBAL_GEN2):
|
|
messages += CarState.get_common_global_body_messages(CP)
|
|
else:
|
|
messages += CarState.get_common_preglobal_body_messages()
|
|
|
|
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.main)
|
|
|
|
@staticmethod
|
|
def get_cam_can_parser(CP):
|
|
if CP.flags & SubaruFlags.PREGLOBAL:
|
|
messages = [
|
|
("ES_DashStatus", 20),
|
|
("ES_Distance", 20),
|
|
]
|
|
else:
|
|
messages = [
|
|
("ES_DashStatus", 10),
|
|
("ES_LKAS_State", 10),
|
|
]
|
|
|
|
if not (CP.flags & SubaruFlags.GLOBAL_GEN2):
|
|
messages += CarState.get_common_global_es_messages(CP)
|
|
|
|
if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
|
|
messages.append(("ES_Infotainment", 10))
|
|
|
|
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.camera)
|
|
|
|
@staticmethod
|
|
def get_body_can_parser(CP):
|
|
messages = []
|
|
|
|
if CP.flags & SubaruFlags.GLOBAL_GEN2:
|
|
messages += CarState.get_common_global_body_messages(CP)
|
|
messages += CarState.get_common_global_es_messages(CP)
|
|
|
|
if CP.flags & SubaruFlags.HYBRID:
|
|
messages += [
|
|
("Throttle_Hybrid", 40),
|
|
("Transmission", 100)
|
|
]
|
|
|
|
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt)
|
|
|