91 lines
2.7 KiB
Python
91 lines
2.7 KiB
Python
import copy
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from cereal import car
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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def create_steering_control(packer, apply_steer, frame, steer_step):
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idx = (frame / steer_step) % 16
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values = {
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"Counter": idx,
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"LKAS_Output": apply_steer,
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"LKAS_Request": 1 if apply_steer != 0 else 0,
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"SET_1": 1
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}
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return packer.make_can_msg("ES_LKAS", 0, values)
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def create_steering_status(packer, apply_steer, frame, steer_step):
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return packer.make_can_msg("ES_LKAS_State", 0, {})
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def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
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values = copy.copy(es_distance_msg)
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if pcm_cancel_cmd:
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values["Cruise_Cancel"] = 1
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return packer.make_can_msg("ES_Distance", 0, values)
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def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
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values = copy.copy(es_lkas_msg)
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# Filter the stock LKAS "Keep hands on wheel" alert
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if values["LKAS_Alert_Msg"] == 1:
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values["LKAS_Alert_Msg"] = 0
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# Filter the stock LKAS sending an audible alert when it turns off LKAS
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if values["LKAS_Alert"] == 27:
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values["LKAS_Alert"] = 0
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# Show Keep hands on wheel alert for openpilot steerRequired alert
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if visual_alert == VisualAlert.steerRequired:
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values["LKAS_Alert_Msg"] = 1
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# Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW)
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if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0:
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if left_lane_depart:
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values["LKAS_Alert"] = 12 # Left lane departure dash alert
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elif right_lane_depart:
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values["LKAS_Alert"] = 11 # Right lane departure dash alert
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if enabled:
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values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines
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values["LKAS_Dash_State"] = 2 # Green enabled indicator
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else:
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values["LKAS_Dash_State"] = 0 # LKAS Not enabled
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values["LKAS_Left_Line_Visible"] = int(left_line)
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values["LKAS_Right_Line_Visible"] = int(right_line)
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return packer.make_can_msg("ES_LKAS_State", 0, values)
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# *** Subaru Pre-global ***
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def subaru_preglobal_checksum(packer, values, addr):
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dat = packer.make_can_msg(addr, 0, values)[2]
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return (sum(dat[:7])) % 256
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def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
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idx = (frame / steer_step) % 8
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values = {
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"Counter": idx,
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"LKAS_Command": apply_steer,
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"LKAS_Active": 1 if apply_steer != 0 else 0
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}
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values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
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return packer.make_can_msg("ES_LKAS", 0, values)
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def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
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values = copy.copy(es_distance_msg)
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values["Cruise_Button"] = cruise_button
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values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance")
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return packer.make_can_msg("ES_Distance", 0, values)
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