99 lines
3.6 KiB
99 lines
3.6 KiB
#!/usr/bin/env python3
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import cereal.messaging as messaging
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from opendbc.can.packer import CANPacker
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from opendbc.can.parser import CANParser
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from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error
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from selfdrive.car import crc8_pedal
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packer = CANPacker("honda_civic_touring_2016_can_generated")
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rpacker = CANPacker("acura_ilx_2016_nidec")
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def get_car_can_parser():
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dbc_f = 'honda_civic_touring_2016_can_generated'
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signals = [
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("STEER_TORQUE", 0xe4),
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("STEER_TORQUE_REQUEST", 0xe4),
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("COMPUTER_BRAKE", 0x1fa),
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("COMPUTER_BRAKE_REQUEST", 0x1fa),
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("GAS_COMMAND", 0x200),
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]
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checks = [
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(0xe4, 100),
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(0x1fa, 50),
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(0x200, 50),
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]
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return CANParser(dbc_f, signals, checks, 0)
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cp = get_car_can_parser()
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def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
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msg = []
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# *** powertrain bus ***
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speed = speed * 3.6 # convert m/s to kph
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msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}, idx))
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msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0, {
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"WHEEL_SPEED_FL": speed,
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"WHEEL_SPEED_FR": speed,
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"WHEEL_SPEED_RL": speed,
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"WHEEL_SPEED_RR": speed
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}, -1))
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msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}, idx))
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values = {"COUNTER_PEDAL": idx & 0xF}
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checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF}, -1)[2][:-1])
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values["CHECKSUM_PEDAL"] = checksum
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msg.append(packer.make_can_msg("GAS_SENSOR", 0, values, -1))
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msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}, idx))
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msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}, idx))
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msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}, idx))
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msg.append(packer.make_can_msg("STEER_STATUS", 0, {}, idx))
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msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}, idx))
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msg.append(packer.make_can_msg("VSA_STATUS", 0, {}, idx))
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msg.append(packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if speed >= 1.0 else 0}, idx))
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msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}, idx))
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msg.append(packer.make_can_msg("EPB_STATUS", 0, {}, idx))
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msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}, idx))
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msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}, idx))
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msg.append(packer.make_can_msg("CRUISE", 0, {}, idx))
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msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx))
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msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx))
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msg.append(packer.make_can_msg("HUD_SETTING", 0, {}))
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# *** cam bus ***
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msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))
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msg.append(packer.make_can_msg("ACC_HUD", 2, {}, idx))
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msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}, idx))
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# *** radar bus ***
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if idx % 5 == 0:
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msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}, -1))
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for i in range(16):
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msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}, -1))
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pm.send('can', can_list_to_can_capnp(msg))
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def sendcan_function(sendcan):
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sc = messaging.drain_sock_raw(sendcan)
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cp.update_strings(sc, sendcan=True)
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if cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']:
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brake = cp.vl[0x1fa]['COMPUTER_BRAKE'] / 1024.
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else:
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brake = 0.0
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if cp.vl[0x200]['GAS_COMMAND'] > 0:
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gas = ( cp.vl[0x200]['GAS_COMMAND'] + 83.3 ) / (0.253984064 * 2**16)
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else:
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gas = 0.0
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if cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
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steer_torque = cp.vl[0xe4]['STEER_TORQUE']/3840
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else:
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steer_torque = 0.0
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return gas, brake, steer_torque
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