137 lines
5.0 KiB
Python
137 lines
5.0 KiB
Python
import copy
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from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.car.interfaces import CarStateBase
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from opendbc.can.parser import CANParser
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from selfdrive.car.subaru.values import DBC, 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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self.left_blinker_cnt = 0
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self.right_blinker_cnt = 0
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def update(self, cp, cp_cam):
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ret = car.CarState.new_message()
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ret.gas = cp.vl["Throttle"]['Throttle_Pedal'] / 255.
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ret.gasPressed = ret.gas > 1e-5
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ret.brakePressed = cp.vl["Brake_Pedal"]['Brake_Pedal'] > 1e-5
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ret.brakeLights = ret.brakePressed
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ret.wheelSpeeds.fl = cp.vl["Wheel_Speeds"]['FL'] * CV.KPH_TO_MS
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ret.wheelSpeeds.fr = cp.vl["Wheel_Speeds"]['FR'] * CV.KPH_TO_MS
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ret.wheelSpeeds.rl = cp.vl["Wheel_Speeds"]['RL'] * CV.KPH_TO_MS
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ret.wheelSpeeds.rr = cp.vl["Wheel_Speeds"]['RR'] * CV.KPH_TO_MS
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ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
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# Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default
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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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# continuous blinker signals for assisted lane change
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self.left_blinker_cnt = 50 if cp.vl["Dashlights"]['LEFT_BLINKER'] else max(self.left_blinker_cnt - 1, 0)
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ret.leftBlinker = self.left_blinker_cnt > 0
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self.right_blinker_cnt = 50 if cp.vl["Dashlights"]['RIGHT_BLINKER'] else max(self.right_blinker_cnt - 1, 0)
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ret.rightBlinker = self.right_blinker_cnt > 0
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ret.steeringAngle = cp.vl["Steering_Torque"]['Steering_Angle']
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ret.steeringTorque = cp.vl["Steering_Torque"]['Steer_Torque_Sensor']
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ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
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ret.cruiseState.enabled = cp.vl["CruiseControl"]['Cruise_Activated'] != 0
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ret.cruiseState.available = cp.vl["CruiseControl"]['Cruise_On'] != 0
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ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]['Cruise_Set_Speed'] * CV.KPH_TO_MS
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# 1 = imperial, 6 = metric
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if cp.vl["Dash_State"]['Units'] == 1:
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ret.cruiseState.speed *= CV.MPH_TO_KPH
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ret.seatbeltUnlatched = cp.vl["Dashlights"]['SEATBELT_FL'] == 1
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ret.doorOpen = any([cp.vl["BodyInfo"]['DOOR_OPEN_RR'],
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cp.vl["BodyInfo"]['DOOR_OPEN_RL'],
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cp.vl["BodyInfo"]['DOOR_OPEN_FR'],
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cp.vl["BodyInfo"]['DOOR_OPEN_FL']])
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self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
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self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
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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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("Steer_Torque_Sensor", "Steering_Torque", 0),
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("Steering_Angle", "Steering_Torque", 0),
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("Cruise_On", "CruiseControl", 0),
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("Cruise_Activated", "CruiseControl", 0),
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("Brake_Pedal", "Brake_Pedal", 0),
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("Throttle_Pedal", "Throttle", 0),
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("LEFT_BLINKER", "Dashlights", 0),
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("RIGHT_BLINKER", "Dashlights", 0),
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("SEATBELT_FL", "Dashlights", 0),
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("FL", "Wheel_Speeds", 0),
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("FR", "Wheel_Speeds", 0),
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("RL", "Wheel_Speeds", 0),
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("RR", "Wheel_Speeds", 0),
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("DOOR_OPEN_FR", "BodyInfo", 1),
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("DOOR_OPEN_FL", "BodyInfo", 1),
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("DOOR_OPEN_RR", "BodyInfo", 1),
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("DOOR_OPEN_RL", "BodyInfo", 1),
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("Units", "Dash_State", 1),
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]
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checks = [
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# sig_address, frequency
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("Dashlights", 10),
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("CruiseControl", 20),
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("Wheel_Speeds", 50),
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("Steering_Torque", 50),
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("BodyInfo", 10),
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
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@staticmethod
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def get_cam_can_parser(CP):
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signals = [
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("Cruise_Set_Speed", "ES_DashStatus", 0),
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("Counter", "ES_Distance", 0),
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("Signal1", "ES_Distance", 0),
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("Signal2", "ES_Distance", 0),
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("Main", "ES_Distance", 0),
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("Signal3", "ES_Distance", 0),
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("Checksum", "ES_LKAS_State", 0),
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("Counter", "ES_LKAS_State", 0),
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("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
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("Empty_Box", "ES_LKAS_State", 0),
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("Signal1", "ES_LKAS_State", 0),
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("LKAS_ACTIVE", "ES_LKAS_State", 0),
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("Signal2", "ES_LKAS_State", 0),
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("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
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("LKAS_ENABLE_3", "ES_LKAS_State", 0),
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("Signal3", "ES_LKAS_State", 0),
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("LKAS_ENABLE_2", "ES_LKAS_State", 0),
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("Signal4", "ES_LKAS_State", 0),
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("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
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("Signal6", "ES_LKAS_State", 0),
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("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
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("Signal7", "ES_LKAS_State", 0),
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("FCW_Cont_Beep", "ES_LKAS_State", 0),
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("FCW_Repeated_Beep", "ES_LKAS_State", 0),
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("Throttle_Management_Activated", "ES_LKAS_State", 0),
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("Traffic_light_Ahead", "ES_LKAS_State", 0),
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("Right_Depart", "ES_LKAS_State", 0),
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("Signal5", "ES_LKAS_State", 0),
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]
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checks = [
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("ES_DashStatus", 10),
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
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