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133 lines
5.5 KiB
133 lines
5.5 KiB
from cereal import car
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from common.numpy_fast import mean
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from selfdrive.config import Conversions as CV
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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, CAR, AccState, CanBus, \
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CruiseButtons, STEER_THRESHOLD
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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["ECMPRDNL"]["PRNDL"]
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def update(self, pt_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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ret.wheelSpeeds.fl = pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"] * CV.KPH_TO_MS
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ret.wheelSpeeds.fr = pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"] * CV.KPH_TO_MS
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ret.wheelSpeeds.rl = pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"] * CV.KPH_TO_MS
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ret.wheelSpeeds.rr = pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"] * CV.KPH_TO_MS
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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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ret.standstill = ret.vEgoRaw < 0.01
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]["PRNDL"], None))
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ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
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# Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
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if ret.brake < 10/0xd0:
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ret.brake = 0.
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ret.gas = pt_cp.vl["AcceleratorPedal"]["AcceleratorPedal"] / 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.steerWarning = self.lkas_status == 2
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ret.steerError = 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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self.park_brake = pt_cp.vl["EPBStatus"]["EPBClosed"]
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ret.cruiseState.available = bool(pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"])
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ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
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self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
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ret.brakePressed = ret.brake > 1e-5
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# Regen braking is braking
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if self.car_fingerprint == CAR.VOLT:
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ret.brakePressed = ret.brakePressed or bool(pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"])
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ret.cruiseState.enabled = self.pcm_acc_status != AccState.OFF
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ret.cruiseState.standstill = self.pcm_acc_status == AccState.STANDSTILL
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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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("BrakePedalPosition", "EBCMBrakePedalPosition", 0),
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("FrontLeftDoor", "BCMDoorBeltStatus", 0),
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("FrontRightDoor", "BCMDoorBeltStatus", 0),
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("RearLeftDoor", "BCMDoorBeltStatus", 0),
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("RearRightDoor", "BCMDoorBeltStatus", 0),
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("LeftSeatBelt", "BCMDoorBeltStatus", 0),
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("RightSeatBelt", "BCMDoorBeltStatus", 0),
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("TurnSignals", "BCMTurnSignals", 0),
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("AcceleratorPedal", "AcceleratorPedal", 0),
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("CruiseState", "AcceleratorPedal2", 0),
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("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
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("SteeringWheelAngle", "PSCMSteeringAngle", 0),
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("SteeringWheelRate", "PSCMSteeringAngle", 0),
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("FLWheelSpd", "EBCMWheelSpdFront", 0),
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("FRWheelSpd", "EBCMWheelSpdFront", 0),
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("RLWheelSpd", "EBCMWheelSpdRear", 0),
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("RRWheelSpd", "EBCMWheelSpdRear", 0),
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("PRNDL", "ECMPRDNL", 0),
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("LKADriverAppldTrq", "PSCMStatus", 0),
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("LKATorqueDelivered", "PSCMStatus", 0),
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("LKATorqueDeliveredStatus", "PSCMStatus", 0),
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("TractionControlOn", "ESPStatus", 0),
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("EPBClosed", "EPBStatus", 0),
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("CruiseMainOn", "ECMEngineStatus", 0),
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]
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checks = [
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("BCMTurnSignals", 1),
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("ECMPRDNL", 10),
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("PSCMStatus", 10),
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("ESPStatus", 10),
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("BCMDoorBeltStatus", 10),
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("EPBStatus", 20),
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("EBCMWheelSpdFront", 20),
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("EBCMWheelSpdRear", 20),
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("AcceleratorPedal", 33),
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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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("EBCMBrakePedalPosition", 100),
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]
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if CP.carFingerprint == CAR.VOLT:
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signals += [
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("RegenPaddle", "EBCMRegenPaddle", 0),
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]
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checks += [
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("EBCMRegenPaddle", 50),
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]
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.POWERTRAIN)
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