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CANParser: consistent style for adding signals/checks (#23646) 

* consistent style, like toyota

* typo
pull/23656/head
Shane Smiskol 2022-01-28 13:20:13 -08:00 committed by GitHub
parent fa3a787e9a
commit 95caa5f399
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GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 42 additions and 88 deletions
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2
selfdrive/car/chrysler/carstate.py
View File

@ -126,7 +126,7 @@ class CarState(CarStateBase):
("BLIND_SPOT_RIGHT", "BLIND_SPOT_WARNINGS"),
("BLIND_SPOT_LEFT", "BLIND_SPOT_WARNINGS"),
]
checks += [("BLIND_SPOT_WARNINGS", 2)]
checks.append(("BLIND_SPOT_WARNINGS", 2))
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)

8
selfdrive/car/gm/carstate.py
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@ -124,12 +124,8 @@ class CarState(CarStateBase):
]
if CP.carFingerprint == CAR.VOLT:
signals += [
("RegenPaddle", "EBCMRegenPaddle"),
]
checks += [
("EBCMRegenPaddle", 50),
]
signals.append(("RegenPaddle", "EBCMRegenPaddle"))
checks.append(("EBCMRegenPaddle", 50))
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.POWERTRAIN)

26
selfdrive/car/honda/carstate.py
View File

@ -65,17 +65,13 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
]
if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
checks += [
(gearbox_msg, 50),
]
checks.append((gearbox_msg, 50))
else:
checks += [
(gearbox_msg, 100),
]
checks.append((gearbox_msg, 100))
if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
checks += [("BRAKE_MODULE", 50)]
signals.append(("BRAKE_PRESSED", "BRAKE_MODULE", 0))
checks.append(("BRAKE_MODULE", 50))
if CP.carFingerprint in HONDA_BOSCH:
signals += [
@ -103,14 +99,14 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
if CP.carFingerprint == CAR.ODYSSEY_CHN:
checks += [("CRUISE_PARAMS", 10)]
checks.append(("CRUISE_PARAMS", 10))
else:
checks += [("CRUISE_PARAMS", 50)]
checks.append(("CRUISE_PARAMS", 50))
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1))
elif CP.carFingerprint == CAR.ODYSSEY_CHN:
signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1))
elif CP.carFingerprint in (CAR.FREED, CAR.HRV):
signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1),
("WHEELS_MOVING", "STANDSTILL", 1)]
@ -133,8 +129,8 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
("EPB_STATUS", 50),
]
elif CP.carFingerprint in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
signals += [("EPB_STATE", "EPB_STATUS", 0)]
checks += [("EPB_STATUS", 50)]
signals.append(("EPB_STATE", "EPB_STATUS", 0))
checks.append(("EPB_STATUS", 50))
# add gas interceptor reading if we are using it
if CP.enableGasInterceptor:
@ -147,7 +143,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
("BRAKE_ERROR_1", "STANDSTILL", 1),
("BRAKE_ERROR_2", "STANDSTILL", 1)
]
checks += [("STANDSTILL", 50)]
checks.append(("STANDSTILL", 50))
return signals, checks

44
selfdrive/car/hyundai/carstate.py
View File

@ -206,7 +206,7 @@ class CarState(CarStateBase):
("FCA_CmdAct", "FCA11"),
("CF_VSM_Warn", "FCA11"),
]
checks += [("FCA11", 50)]
checks.append(("FCA11", 50))
else:
signals += [
("AEB_CmdAct", "SCC12"),
@ -218,20 +218,14 @@ class CarState(CarStateBase):
("CF_Lca_IndLeft", "LCA11"),
("CF_Lca_IndRight", "LCA11"),
]
checks += [("LCA11", 50)]
checks.append(("LCA11", 50))
if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
if CP.carFingerprint in HYBRID_CAR:
signals += [
("CR_Vcu_AccPedDep_Pos", "E_EMS11")
]
signals.append(("CR_Vcu_AccPedDep_Pos", "E_EMS11"))
else:
signals += [
("Accel_Pedal_Pos", "E_EMS11")
]
checks += [
("E_EMS11", 50),
]
signals.append(("Accel_Pedal_Pos", "E_EMS11"))
checks.append(("E_EMS11", 50))
else:
signals += [
("PV_AV_CAN", "EMS12"),
@ -243,29 +237,17 @@ class CarState(CarStateBase):
]
if CP.carFingerprint in FEATURES["use_cluster_gears"]:
signals += [
("CF_Clu_Gear", "CLU15"),
]
checks += [
("CLU15", 5)
]
signals.append(("CF_Clu_Gear", "CLU15"))
checks.append(("CLU15", 5))
elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
signals += [
("CUR_GR", "TCU12")
]
checks += [
("TCU12", 100)
]
signals.append(("CUR_GR", "TCU12"))
checks.append(("TCU12", 100))
elif CP.carFingerprint in FEATURES["use_elect_gears"]:
signals += [("Elect_Gear_Shifter", "ELECT_GEAR")]
checks += [("ELECT_GEAR", 20)]
signals.append(("Elect_Gear_Shifter", "ELECT_GEAR"))
checks.append(("ELECT_GEAR", 20))
else:
signals += [
("CF_Lvr_Gear", "LVR12")
]
checks += [
("LVR12", 100)
]
signals.append(("CF_Lvr_Gear", "LVR12"))
checks.append(("LVR12", 100))
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)

24
selfdrive/car/nissan/carstate.py
View File

@ -218,12 +218,8 @@ class CarState(CarStateBase):
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
signals += [
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"),
]
checks += [
("STEER_TORQUE_SENSOR", 100),
]
signals.append(("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"))
checks.append(("STEER_TORQUE_SENSOR", 100))
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
@ -345,19 +341,11 @@ class CarState(CarStateBase):
checks = []
if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
signals += [
("CRUISE_ON", "PRO_PILOT"),
]
checks += [
("PRO_PILOT", 100),
]
signals.append(("CRUISE_ON", "PRO_PILOT"))
checks.append(("PRO_PILOT", 100))
elif CP.carFingerprint == CAR.ALTIMA:
signals += [
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"),
]
checks += [
("STEER_TORQUE_SENSOR", 100),
]
signals.append(("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"))
checks.append(("STEER_TORQUE_SENSOR", 100))
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)

12
selfdrive/car/subaru/carstate.py
View File

@ -119,9 +119,7 @@ class CarState(CarStateBase):
("L_APPROACHING", "BSD_RCTA"),
("R_APPROACHING", "BSD_RCTA"),
]
checks += [
("BSD_RCTA", 17),
]
checks.append(("BSD_RCTA", 17))
if CP.carFingerprint not in PREGLOBAL_CARS:
signals += [
@ -137,13 +135,9 @@ class CarState(CarStateBase):
("CruiseControl", 20),
]
else:
signals += [
("UNITS", "Dash_State2"),
]
signals.append(("UNITS", "Dash_State2"))
checks += [
("Dash_State2", 1),
]
checks.append(("Dash_State2", 1))
if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
checks += [

4
selfdrive/car/toyota/carstate.py
View File

@ -201,9 +201,7 @@ class CarState(CarStateBase):
("R_ADJACENT", "BSM", 0),
("R_APPROACHING", "BSM", 0),
]
checks += [
("BSM", 1)
]
checks.append(("BSM", 1))
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)

10
selfdrive/car/volkswagen/carstate.py
View File

@ -212,15 +212,15 @@ class CarState(CarStateBase):
]
if CP.transmissionType == TransmissionType.automatic:
signals += [("GE_Fahrstufe", "Getriebe_11")] # Auto trans gear selector position
checks += [("Getriebe_11", 20)] # From J743 Auto transmission control module
signals.append(("GE_Fahrstufe", "Getriebe_11")) # Auto trans gear selector position
checks.append(("Getriebe_11", 20)) # From J743 Auto transmission control module
elif CP.transmissionType == TransmissionType.direct:
signals += [("GearPosition", "EV_Gearshift")] # EV gear selector position
checks += [("EV_Gearshift", 10)] # From J??? unknown EV control module
signals.append(("GearPosition", "EV_Gearshift")) # EV gear selector position
checks.append(("EV_Gearshift", 10)) # From J??? unknown EV control module
elif CP.transmissionType == TransmissionType.manual:
signals += [("MO_Kuppl_schalter", "Motor_14"), # Clutch switch
("BCM1_Rueckfahrlicht_Schalter", "Gateway_72")] # Reverse light from BCM
checks += [("Motor_14", 10)] # From J623 Engine control module
checks.append(("Motor_14", 10)) # From J623 Engine control module
if CP.networkLocation == NetworkLocation.fwdCamera:
# Radars are here on CANBUS.pt