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139 lines
5.5 KiB
139 lines
5.5 KiB
from cereal import car
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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, CAR, AccState, CanBus, 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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self.lka_steering_cmd_counter = 0
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def update(self, pt_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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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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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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# Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
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ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
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ret.brakePressed = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] >= 10
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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 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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self.lka_steering_cmd_counter = loopback_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
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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["EPBStatus"]["EPBClosed"] == 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
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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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return ret
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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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("BrakePedalPosition", "EBCMBrakePedalPosition"),
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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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("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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("PRNDL", "ECMPRDNL"),
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("LKADriverAppldTrq", "PSCMStatus"),
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("LKATorqueDelivered", "PSCMStatus"),
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("LKATorqueDeliveredStatus", "PSCMStatus"),
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("TractionControlOn", "ESPStatus"),
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("EPBClosed", "EPBStatus"),
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("CruiseMainOn", "ECMEngineStatus"),
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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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("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.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", 50),
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]
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK)
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