#!/usr/bin/env python3 import time import cereal.messaging as messaging from opendbc.can.parser import CANParser from opendbc.can.packer import CANPacker from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp from selfdrive.car.honda.values import FINGERPRINTS, CAR from selfdrive.car import crc8_pedal from selfdrive.test.longitudinal_maneuvers.plant import get_car_can_parser cp = get_car_can_parser() #cp = CANParser("honda_civic_touring_2016_can_generated") packer = CANPacker("honda_civic_touring_2016_can_generated") rpacker = CANPacker("acura_ilx_2016_nidec") def can_function(pm, speed, angle, idx, engage): msg = [] msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}, idx)) msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0, {"WHEEL_SPEED_FL": speed, "WHEEL_SPEED_FR": speed, "WHEEL_SPEED_RL": speed, "WHEEL_SPEED_RR": speed}, -1)) if engage: msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": 3}, idx)) else: msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": 0}, idx)) values = {"COUNTER_PEDAL": idx&0xF} checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx&0xF}, -1)[2][:-1]) values["CHECKSUM_PEDAL"] = checksum msg.append(packer.make_can_msg("GAS_SENSOR", 0, values, -1)) msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}, idx)) msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}, idx)) msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}, idx)) msg.append(packer.make_can_msg("STEER_STATUS", 0, {}, idx)) msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}, idx)) msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {}, idx)) msg.append(packer.make_can_msg("VSA_STATUS", 0, {}, idx)) msg.append(packer.make_can_msg("STANDSTILL", 0, {}, idx)) msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}, idx)) msg.append(packer.make_can_msg("EPB_STATUS", 0, {}, idx)) msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}, idx)) msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}, idx)) msg.append(packer.make_can_msg("CRUISE", 0, {}, idx)) msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx)) #print(msg) # cam bus msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx)) msg.append(packer.make_can_msg("ACC_HUD", 2, {}, idx)) msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}, idx)) # radar if idx%5 == 0: msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}, -1)) for i in range(16): msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}, -1)) # fill in the rest for fingerprint done = set([x[0] for x in msg]) for k,v in FINGERPRINTS[CAR.CIVIC][0].items(): if k not in done and k not in [0xE4, 0x194]: msg.append([k, 0, b'\x00'*v, 0]) pm.send('can', can_list_to_can_capnp(msg)) def sendcan_function(sendcan): sc = messaging.drain_sock_raw(sendcan) cp.update_strings(sc, sendcan=True) if cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']: brake = cp.vl[0x1fa]['COMPUTER_BRAKE'] * 0.003906248 else: brake = 0.0 if cp.vl[0x200]['GAS_COMMAND'] > 0: gas = cp.vl[0x200]['GAS_COMMAND'] / 256.0 else: gas = 0.0 if cp.vl[0xe4]['STEER_TORQUE_REQUEST']: steer_torque = cp.vl[0xe4]['STEER_TORQUE']*1.0/0x1000 else: steer_torque = 0.0 return (gas, brake, steer_torque) if __name__ == "__main__": pm = messaging.PubMaster(['can']) sendcan = messaging.sub_sock('sendcan') idx = 0 while 1: sendcan_function(sendcan) can_function(pm, 10.0, idx) time.sleep(0.01) idx += 1