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219 lines
9.1 KiB
219 lines
9.1 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 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.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
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TransmissionType = car.CarParams.TransmissionType
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NetworkLocation = car.CarParams.NetworkLocation
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STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
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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["ECMPRDNL2"]["PRNDL2"]
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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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self.loopback_lka_steering_cmd_updated = False
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self.loopback_lka_steering_cmd_ts_nanos = 0
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self.pt_lka_steering_cmd_counter = 0
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self.cam_lka_steering_cmd_counter = 0
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self.buttons_counter = 0
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def update(self, pt_cp, cam_cp, loopback_cp):
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ret = car.CarState.new_message()
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self.prev_cruise_buttons = self.cruise_buttons
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self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
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self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
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self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
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self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0
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# Variables used for avoiding LKAS faults
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self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
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if self.loopback_lka_steering_cmd_updated:
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self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
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if self.CP.networkLocation == NetworkLocation.fwdCamera:
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self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
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self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
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ret.wheelSpeeds = self.get_wheel_speeds(
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pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
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pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
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pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"],
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pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"],
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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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# sample rear wheel speeds, standstill=True if ECM allows engagement with brake
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ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
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if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
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ret.gearShifter = self.parse_gear_shifter("T")
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else:
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
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ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
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if self.CP.networkLocation == NetworkLocation.fwdCamera:
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ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
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else:
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# Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
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# that the brake is being intermittently pressed without user interaction.
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# To avoid a cruise fault we need to use a conservative brake position threshold
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# https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
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ret.brakePressed = ret.brake >= 8
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# Regen braking is braking
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if self.CP.transmissionType == TransmissionType.direct:
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ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
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ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
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ret.gasPressed = ret.gas > 1e-5
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ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
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ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"]
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ret.steeringTorque = pt_cp.vl["PSCMStatus"]["LKADriverAppldTrq"]
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ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]["LKATorqueDelivered"]
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ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
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# 0 inactive, 1 active, 2 temporarily limited, 3 failed
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self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
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ret.steerFaultTemporary = self.lkas_status == 2
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ret.steerFaultPermanent = self.lkas_status == 3
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# 1 - open, 0 - closed
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ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
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pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
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pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
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pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
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# 1 - latched
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ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
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ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
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ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
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ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
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ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
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ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
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ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
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pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
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ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
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ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
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if self.CP.networkLocation == NetworkLocation.fwdCamera:
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ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
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ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
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# openpilot controls nonAdaptive when not pcmCruise
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if self.CP.pcmCruise:
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ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
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return ret
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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.networkLocation == NetworkLocation.fwdCamera:
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signals += [
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("AEBCmdActive", "AEBCmd"),
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("RollingCounter", "ASCMLKASteeringCmd"),
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("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"),
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("ACCCruiseState", "ASCMActiveCruiseControlStatus"),
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]
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checks += [
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("AEBCmd", 10),
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("ASCMLKASteeringCmd", 10),
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("ASCMActiveCruiseControlStatus", 25),
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]
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.CAMERA)
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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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("BrakePedalPos", "ECMAcceleratorPos"),
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("FrontLeftDoor", "BCMDoorBeltStatus"),
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("FrontRightDoor", "BCMDoorBeltStatus"),
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("RearLeftDoor", "BCMDoorBeltStatus"),
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("RearRightDoor", "BCMDoorBeltStatus"),
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("LeftSeatBelt", "BCMDoorBeltStatus"),
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("RightSeatBelt", "BCMDoorBeltStatus"),
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("TurnSignals", "BCMTurnSignals"),
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("AcceleratorPedal2", "AcceleratorPedal2"),
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("CruiseState", "AcceleratorPedal2"),
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("ACCButtons", "ASCMSteeringButton"),
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("RollingCounter", "ASCMSteeringButton"),
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("SteeringWheelAngle", "PSCMSteeringAngle"),
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("SteeringWheelRate", "PSCMSteeringAngle"),
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("FLWheelSpd", "EBCMWheelSpdFront"),
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("FRWheelSpd", "EBCMWheelSpdFront"),
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("RLWheelSpd", "EBCMWheelSpdRear"),
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("RRWheelSpd", "EBCMWheelSpdRear"),
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("MovingBackward", "EBCMWheelSpdRear"),
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("FrictionBrakeUnavailable", "EBCMFrictionBrakeStatus"),
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("PRNDL2", "ECMPRDNL2"),
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("ManualMode", "ECMPRDNL2"),
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("LKADriverAppldTrq", "PSCMStatus"),
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("LKATorqueDelivered", "PSCMStatus"),
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("LKATorqueDeliveredStatus", "PSCMStatus"),
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("HandsOffSWlDetectionStatus", "PSCMStatus"),
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("HandsOffSWDetectionMode", "PSCMStatus"),
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("LKATotalTorqueDelivered", "PSCMStatus"),
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("PSCMStatusChecksum", "PSCMStatus"),
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("RollingCounter", "PSCMStatus"),
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("TractionControlOn", "ESPStatus"),
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("ParkBrake", "VehicleIgnitionAlt"),
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("CruiseMainOn", "ECMEngineStatus"),
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("BrakePressed", "ECMEngineStatus"),
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]
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checks = [
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("BCMTurnSignals", 1),
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("ECMPRDNL2", 10),
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("PSCMStatus", 10),
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("ESPStatus", 10),
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("BCMDoorBeltStatus", 10),
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("VehicleIgnitionAlt", 10),
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("EBCMWheelSpdFront", 20),
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("EBCMWheelSpdRear", 20),
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("EBCMFrictionBrakeStatus", 20),
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("AcceleratorPedal2", 33),
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("ASCMSteeringButton", 33),
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("ECMEngineStatus", 100),
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("PSCMSteeringAngle", 100),
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("ECMAcceleratorPos", 80),
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]
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# Used to read back last counter sent to PT by camera
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if CP.networkLocation == NetworkLocation.fwdCamera:
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signals += [
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("RollingCounter", "ASCMLKASteeringCmd"),
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]
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checks += [
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("ASCMLKASteeringCmd", 0),
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]
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if CP.transmissionType == TransmissionType.direct:
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signals.append(("RegenPaddle", "EBCMRegenPaddle"))
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checks.append(("EBCMRegenPaddle", 50))
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.POWERTRAIN)
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@staticmethod
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def get_loopback_can_parser(CP):
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signals = [
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("RollingCounter", "ASCMLKASteeringCmd"),
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]
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checks = [
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("ASCMLKASteeringCmd", 0),
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]
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK, enforce_checks=False)
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