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57 lines
1.8 KiB
57 lines
1.8 KiB
from cereal import car
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from selfdrive.car import make_can_msg
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GearShifter = car.CarState.GearShifter
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
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# LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
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if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
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msg = b'\x00\x00\x00\x03\x00\x00\x00\x00'
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return make_can_msg(0x2a6, msg, 0)
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color = 1 # default values are for park or neutral in 2017 are 0 0, but trying 1 1 for 2019
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lines = 1
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alerts = 0
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if hud_count < (1 * 4): # first 3 seconds, 4Hz
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alerts = 1
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# CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
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# had color = 1 and lines = 1 but trying 2017 hybrid style for now.
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if gear in (GearShifter.drive, GearShifter.reverse, GearShifter.low):
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if lkas_active:
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color = 2 # control active, display green.
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lines = 6
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else:
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color = 1 # control off, display white.
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lines = 1
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values = {
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"LKAS_ICON_COLOR": color, # byte 0, last 2 bits
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"CAR_MODEL": lkas_car_model, # byte 1
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"LKAS_LANE_LINES": lines, # byte 2, last 4 bits
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"LKAS_ALERTS": alerts, # byte 3, last 4 bits
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}
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return packer.make_can_msg("LKAS_HUD", 0, values) # 0x2a6
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def create_lkas_command(packer, apply_steer, moving_fast, frame):
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# LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel.
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values = {
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"LKAS_STEERING_TORQUE": apply_steer,
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"LKAS_HIGH_TORQUE": int(moving_fast),
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"COUNTER": frame % 0x10,
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}
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return packer.make_can_msg("LKAS_COMMAND", 0, values)
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def create_wheel_buttons(packer, frame, cancel=False):
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# WHEEL_BUTTONS (571) Message sent to cancel ACC.
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values = {
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"ACC_CANCEL": cancel,
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"COUNTER": frame % 10
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}
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return packer.make_can_msg("WHEEL_BUTTONS", 0, values)
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