412 lines
17 KiB
Python
412 lines
17 KiB
Python
from cereal import car
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from collections import defaultdict
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from common.numpy_fast import interp
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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.config import Conversions as CV
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from selfdrive.car.interfaces import CarStateBase
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from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
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TransmissionType = car.CarParams.TransmissionType
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def calc_cruise_offset(offset, speed):
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# heuristic formula so that speed is controlled to ~ 0.3m/s below pid_speed
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# constraints to solve for _K0, _K1, _K2 are:
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# - speed = 0m/s, out = -0.3
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# - speed = 34m/s, offset = 20, out = -0.25
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# - speed = 34m/s, offset = -2.5, out = -1.8
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_K0 = -0.3
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_K1 = -0.01879
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_K2 = 0.01013
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return min(_K0 + _K1 * speed + _K2 * speed * offset, 0.)
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def get_can_signals(CP, gearbox_msg="GEARBOX"):
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# this function generates lists for signal, messages and initial values
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signals = [
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("XMISSION_SPEED", "ENGINE_DATA", 0),
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("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
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("STEER_ANGLE", "STEERING_SENSORS", 0),
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("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
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("MOTOR_TORQUE", "STEER_MOTOR_TORQUE", 0),
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("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
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("LEFT_BLINKER", "SCM_FEEDBACK", 0),
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("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
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("GEAR", gearbox_msg, 0),
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("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
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("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
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("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
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("BRAKE_SWITCH", "POWERTRAIN_DATA", 0),
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("CRUISE_BUTTONS", "SCM_BUTTONS", 0),
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("ESP_DISABLED", "VSA_STATUS", 1),
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("USER_BRAKE", "VSA_STATUS", 0),
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("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
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("STEER_STATUS", "STEER_STATUS", 5),
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("GEAR_SHIFTER", gearbox_msg, 0),
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("PEDAL_GAS", "POWERTRAIN_DATA", 0),
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("CRUISE_SETTING", "SCM_BUTTONS", 0),
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("ACC_STATUS", "POWERTRAIN_DATA", 0),
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]
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checks = [
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("ENGINE_DATA", 100),
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("WHEEL_SPEEDS", 50),
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("STEERING_SENSORS", 100),
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("SEATBELT_STATUS", 10),
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("CRUISE", 10),
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("POWERTRAIN_DATA", 100),
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("VSA_STATUS", 50),
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("STEER_STATUS", 100),
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("STEER_MOTOR_TORQUE", 0), # TODO: not on every car
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]
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if CP.carFingerprint == CAR.ODYSSEY_CHN:
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checks += [
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("SCM_FEEDBACK", 25),
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("SCM_BUTTONS", 50),
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]
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else:
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checks += [
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("SCM_FEEDBACK", 10),
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("SCM_BUTTONS", 25),
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]
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if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
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checks += [
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(gearbox_msg, 50),
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]
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else:
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checks += [
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(gearbox_msg, 100),
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]
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if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
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signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
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checks += [("BRAKE_MODULE", 50)]
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if CP.carFingerprint in HONDA_BOSCH:
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signals += [
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("CAR_GAS", "GAS_PEDAL_2", 0),
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("MAIN_ON", "SCM_FEEDBACK", 0),
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("EPB_STATE", "EPB_STATUS", 0),
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]
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checks += [
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("EPB_STATUS", 50),
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("GAS_PEDAL_2", 100),
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]
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if not CP.openpilotLongitudinalControl:
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signals += [
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("CRUISE_CONTROL_LABEL", "ACC_HUD", 0),
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("CRUISE_SPEED", "ACC_HUD", 0),
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("ACCEL_COMMAND", "ACC_CONTROL", 0),
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("AEB_STATUS", "ACC_CONTROL", 0),
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]
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checks += [
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("ACC_HUD", 10),
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("ACC_CONTROL", 50),
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]
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else: # Nidec signals
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signals += [("CRUISE_SPEED_PCM", "CRUISE", 0),
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("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
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if CP.carFingerprint == CAR.ODYSSEY_CHN:
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checks += [("CRUISE_PARAMS", 10)]
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else:
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checks += [("CRUISE_PARAMS", 50)]
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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):
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signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
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elif CP.carFingerprint == CAR.ODYSSEY_CHN:
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signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
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elif CP.carFingerprint == CAR.HRV:
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signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1),
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("WHEELS_MOVING", "STANDSTILL", 1)]
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else:
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signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
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("DOOR_OPEN_FR", "DOORS_STATUS", 1),
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("DOOR_OPEN_RL", "DOORS_STATUS", 1),
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("DOOR_OPEN_RR", "DOORS_STATUS", 1),
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("WHEELS_MOVING", "STANDSTILL", 1)]
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checks += [
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("DOORS_STATUS", 3),
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("STANDSTILL", 50),
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]
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if CP.carFingerprint == CAR.CIVIC:
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signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
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("MAIN_ON", "SCM_FEEDBACK", 0),
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("IMPERIAL_UNIT", "HUD_SETTING", 0),
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("EPB_STATE", "EPB_STATUS", 0)]
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checks += [
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("HUD_SETTING", 50),
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("EPB_STATUS", 50),
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("GAS_PEDAL_2", 100),
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]
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elif CP.carFingerprint == CAR.ACURA_ILX:
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signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
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("MAIN_ON", "SCM_BUTTONS", 0)]
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checks += [
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("GAS_PEDAL_2", 100),
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]
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elif CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
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signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
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elif CP.carFingerprint == CAR.FIT:
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signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
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("MAIN_ON", "SCM_BUTTONS", 0),
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("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
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checks += [
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("GAS_PEDAL_2", 100),
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]
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elif CP.carFingerprint == CAR.HRV:
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signals += [("MAIN_ON", "SCM_BUTTONS", 0),
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("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
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elif CP.carFingerprint == CAR.ODYSSEY:
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signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
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("EPB_STATE", "EPB_STATUS", 0)]
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checks += [("EPB_STATUS", 50)]
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elif CP.carFingerprint == CAR.PILOT:
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signals += [("MAIN_ON", "SCM_BUTTONS", 0),
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("CAR_GAS", "GAS_PEDAL_2", 0)]
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checks += [
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("GAS_PEDAL_2", 0), # TODO: fix this freq, seems this signal isn't present at all on some models
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]
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elif CP.carFingerprint == CAR.ODYSSEY_CHN:
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signals += [("MAIN_ON", "SCM_BUTTONS", 0),
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("EPB_STATE", "EPB_STATUS", 0)]
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checks += [("EPB_STATUS", 50)]
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# add gas interceptor reading if we are using it
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if CP.enableGasInterceptor:
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signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
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signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
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checks.append(("GAS_SENSOR", 50))
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if CP.openpilotLongitudinalControl:
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signals += [
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("BRAKE_ERROR_1", "STANDSTILL", 1),
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("BRAKE_ERROR_2", "STANDSTILL", 1)
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]
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checks += [("STANDSTILL", 50)]
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return signals, checks
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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.gearbox_msg = "GEARBOX"
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if CP.carFingerprint == CAR.ACCORD and CP.transmissionType == TransmissionType.cvt:
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self.gearbox_msg = "GEARBOX_15T"
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self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
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self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
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self.brake_switch_prev = 0
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self.brake_switch_prev_ts = 0
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self.cruise_setting = 0
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self.v_cruise_pcm_prev = 0
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def update(self, cp, cp_cam, cp_body):
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ret = car.CarState.new_message()
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# car params
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v_weight_v = [0., 1.] # don't trust smooth speed at low values to avoid premature zero snapping
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v_weight_bp = [1., 6.] # smooth blending, below ~0.6m/s the smooth speed snaps to zero
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# update prevs, update must run once per loop
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self.prev_cruise_buttons = self.cruise_buttons
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self.prev_cruise_setting = self.cruise_setting
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# ******************* parse out can *******************
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# TODO: find wheels moving bit in dbc
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if self.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):
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ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1
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ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
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elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
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ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1
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ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
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elif self.CP.carFingerprint == CAR.HRV:
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ret.standstill = not cp.vl["STANDSTILL"]["WHEELS_MOVING"]
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ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
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else:
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ret.standstill = not cp.vl["STANDSTILL"]["WHEELS_MOVING"]
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ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"],
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cp.vl["DOORS_STATUS"]["DOOR_OPEN_RL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_RR"]])
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ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"])
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steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
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ret.steerError = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT"]
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# NO_TORQUE_ALERT_2 can be caused by bump OR steering nudge from driver
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self.steer_not_allowed = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_2"]
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# LOW_SPEED_LOCKOUT is not worth a warning
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ret.steerWarning = steer_status not in ["NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2"]
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if not self.CP.openpilotLongitudinalControl:
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self.brake_error = 0
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else:
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self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
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ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
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speed_factor = SPEED_FACTOR.get(self.CP.carFingerprint, 1.)
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ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS * speed_factor
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ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS * speed_factor
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ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS * speed_factor
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ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"] * CV.KPH_TO_MS * speed_factor
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v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr)/4.
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# blend in transmission speed at low speed, since it has more low speed accuracy
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v_weight = interp(v_wheel, v_weight_bp, v_weight_v)
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ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * speed_factor + v_weight * v_wheel
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
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ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]
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self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
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self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
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ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
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250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
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self.brake_hold = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"]
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if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
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CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
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self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
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main_on = cp.vl["SCM_FEEDBACK"]["MAIN_ON"]
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elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
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self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
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main_on = cp.vl["SCM_BUTTONS"]["MAIN_ON"]
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else:
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self.park_brake = 0 # TODO
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main_on = cp.vl["SCM_BUTTONS"]["MAIN_ON"]
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gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
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pedal_gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
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# crv doesn't include cruise control
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if self.CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.HRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
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ret.gas = pedal_gas / 256.
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else:
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ret.gas = cp.vl["GAS_PEDAL_2"]["CAR_GAS"] / 256.
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# this is a hack for the interceptor. This is now only used in the simulation
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# TODO: Replace tests by toyota so this can go away
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if self.CP.enableGasInterceptor:
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user_gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
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ret.gasPressed = user_gas > 1e-5 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
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else:
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ret.gasPressed = pedal_gas > 1e-5
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ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
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ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
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ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
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if self.CP.carFingerprint in HONDA_BOSCH:
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if not self.CP.openpilotLongitudinalControl:
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ret.cruiseState.nonAdaptive = cp.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
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ret.cruiseState.standstill = cp.vl["ACC_HUD"]["CRUISE_SPEED"] == 252.
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# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
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ret.cruiseState.speed = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]["CRUISE_SPEED"] > 160.0 else cp.vl["ACC_HUD"]["CRUISE_SPEED"] * CV.KPH_TO_MS
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self.v_cruise_pcm_prev = ret.cruiseState.speed
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else:
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ret.cruiseState.speedOffset = calc_cruise_offset(cp.vl["CRUISE_PARAMS"]["CRUISE_SPEED_OFFSET"], ret.vEgo)
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ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
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self.brake_switch = cp.vl["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != 0
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if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
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ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
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else:
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# brake switch has shown some single time step noise, so only considered when
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# switch is on for at least 2 consecutive CAN samples
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# panda safety only checks BRAKE_PRESSED signal
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ret.brakePressed = bool(cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] or
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(self.brake_switch and self.brake_switch_prev and cp.ts["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != self.brake_switch_prev_ts))
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self.brake_switch_prev = self.brake_switch
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self.brake_switch_prev_ts = cp.ts["POWERTRAIN_DATA"]["BRAKE_SWITCH"]
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ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
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ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
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ret.cruiseState.available = bool(main_on)
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# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
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if self.CP.carFingerprint in (CAR.PILOT, CAR.PILOT_2019, CAR.RIDGELINE):
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if ret.brake > 0.05:
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ret.brakePressed = True
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# TODO: discover the CAN msg that has the imperial unit bit for all other cars
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self.is_metric = not cp.vl["HUD_SETTING"]["IMPERIAL_UNIT"] if self.CP.carFingerprint in (CAR.CIVIC) else False
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if self.CP.carFingerprint in HONDA_BOSCH:
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ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
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else:
|
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ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
|
|
|
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if self.CP.carFingerprint in HONDA_BOSCH:
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self.stock_hud = False
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|
ret.stockFcw = False
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else:
|
|
ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0
|
|
self.stock_hud = cp_cam.vl["ACC_HUD"]
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|
self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
|
|
|
|
if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ):
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|
# BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
|
|
# more info here: https://github.com/commaai/openpilot/pull/1867
|
|
ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
|
|
ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
|
|
|
|
return ret
|
|
|
|
def get_can_parser(self, CP):
|
|
signals, checks = get_can_signals(CP, self.gearbox_msg)
|
|
bus_pt = 1 if CP.carFingerprint in HONDA_BOSCH else 0
|
|
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus_pt)
|
|
|
|
@staticmethod
|
|
def get_cam_can_parser(CP):
|
|
signals = []
|
|
|
|
# all hondas except CRV, RDX and 2019 Odyssey@China use 0xe4 for steering
|
|
checks = [(0xe4, 100)]
|
|
if CP.carFingerprint in [CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
|
|
checks = [(0x194, 100)]
|
|
|
|
if CP.carFingerprint not in HONDA_BOSCH:
|
|
signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND", 0),
|
|
("AEB_REQ_1", "BRAKE_COMMAND", 0),
|
|
("FCW", "BRAKE_COMMAND", 0),
|
|
("CHIME", "BRAKE_COMMAND", 0),
|
|
("FCM_OFF", "ACC_HUD", 0),
|
|
("FCM_OFF_2", "ACC_HUD", 0),
|
|
("FCM_PROBLEM", "ACC_HUD", 0),
|
|
("ICONS", "ACC_HUD", 0)]
|
|
checks += [
|
|
("ACC_HUD", 10),
|
|
("BRAKE_COMMAND", 50),
|
|
]
|
|
|
|
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
|
|
|
|
@staticmethod
|
|
def get_body_can_parser(CP):
|
|
if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G:
|
|
signals = [("BSM_ALERT", "BSM_STATUS_RIGHT", 0),
|
|
("BSM_ALERT", "BSM_STATUS_LEFT", 0)]
|
|
|
|
checks = [
|
|
("BSM_STATUS_LEFT", 3),
|
|
("BSM_STATUS_RIGHT", 3),
|
|
]
|
|
bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
|
|
return CANParser(DBC[CP.carFingerprint]["body"], signals, checks, bus_body)
|
|
return None
|