230 lines
8.8 KiB
Python
230 lines
8.8 KiB
Python
import copy
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from cereal import car, custom
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from opendbc.can.can_define import CANDefine
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from openpilot.common.conversions import Conversions as CV
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from openpilot.selfdrive.car.interfaces import CarStateBase
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from opendbc.can.parser import CANParser
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from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags
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from openpilot.selfdrive.car import CanSignalRateCalculator
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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.shifter_values = can_define.dv["Transmission"]["Gear"]
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self.angle_rate_calulator = CanSignalRateCalculator(50)
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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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fp_ret = custom.FrogPilotCarState.new_message()
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throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_body.vl["Throttle_Hybrid"]
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ret.gas = throttle_msg["Throttle_Pedal"] / 255.
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ret.gasPressed = ret.gas > 1e-5
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if self.CP.flags & SubaruFlags.PREGLOBAL:
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ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 0
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else:
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cp_brakes = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
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ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1
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cp_es_distance = cp_body if self.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID) else cp_cam
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if not (self.CP.flags & SubaruFlags.HYBRID):
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eyesight_fault = bool(cp_es_distance.vl["ES_Distance"]["Cruise_Fault"])
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# if openpilot is controlling long, an eyesight fault is a non-critical fault. otherwise it's an ACC fault
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if self.CP.openpilotLongitudinalControl:
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ret.carFaultedNonCritical = eyesight_fault
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else:
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ret.accFaulted = eyesight_fault
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cp_wheels = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
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ret.wheelSpeeds = self.get_wheel_speeds(
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cp_wheels.vl["Wheel_Speeds"]["FL"],
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cp_wheels.vl["Wheel_Speeds"]["FR"],
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cp_wheels.vl["Wheel_Speeds"]["RL"],
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cp_wheels.vl["Wheel_Speeds"]["RR"],
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)
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ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = ret.vEgoRaw == 0
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# continuous blinker signals for assisted lane change
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ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"],
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cp.vl["Dashlights"]["RIGHT_BLINKER"])
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if self.CP.enableBsm:
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ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
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ret.rightBlindspot = (cp.vl["BSD_RCTA"]["R_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["R_APPROACHING"] == 1)
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cp_transmission = cp_body if self.CP.flags & SubaruFlags.HYBRID else cp
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can_gear = int(cp_transmission.vl["Transmission"]["Gear"])
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
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ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
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if not (self.CP.flags & SubaruFlags.PREGLOBAL):
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# ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
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ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, cp.vl["Steering_Torque"]["COUNTER"])
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ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
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ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
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steer_threshold = 75 if self.CP.flags & SubaruFlags.PREGLOBAL else 80
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ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
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cp_cruise = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
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if self.CP.flags & SubaruFlags.HYBRID:
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ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0
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ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
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else:
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ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
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ret.cruiseState.available = cp_cruise.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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if (self.CP.flags & SubaruFlags.PREGLOBAL and cp.vl["Dash_State2"]["UNITS"] == 1) or \
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(not (self.CP.flags & SubaruFlags.PREGLOBAL) and cp.vl["Dashlights"]["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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ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
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if self.CP.flags & SubaruFlags.PREGLOBAL:
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self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
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self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
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else:
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ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
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ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
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ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
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ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \
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(cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2)
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self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
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cp_es_brake = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
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self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"])
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cp_es_status = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
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# TODO: Hybrid cars don't have ES_Distance, need a replacement
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if not (self.CP.flags & SubaruFlags.HYBRID):
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# 8 is known AEB, there are a few other values related to AEB we ignore
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ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \
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(cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
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self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"])
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self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"])
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if not (self.CP.flags & SubaruFlags.HYBRID):
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self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
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self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
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if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
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self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
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return ret, fp_ret
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@staticmethod
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def get_common_global_body_messages(CP):
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messages = [
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("Wheel_Speeds", 50),
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("Brake_Status", 50),
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]
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if not (CP.flags & SubaruFlags.HYBRID):
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messages.append(("CruiseControl", 20))
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return messages
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@staticmethod
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def get_common_global_es_messages(CP):
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messages = [
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("ES_Brake", 20),
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]
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if not (CP.flags & SubaruFlags.HYBRID):
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messages += [
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("ES_Distance", 20),
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("ES_Status", 20)
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]
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return messages
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@staticmethod
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def get_common_preglobal_body_messages():
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messages = [
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("CruiseControl", 50),
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("Wheel_Speeds", 50),
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("Dash_State2", 1),
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]
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return messages
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@staticmethod
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def get_can_parser(CP):
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messages = [
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# sig_address, frequency
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("Dashlights", 10),
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("Steering_Torque", 50),
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("BodyInfo", 1),
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("Brake_Pedal", 50),
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]
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if not (CP.flags & SubaruFlags.HYBRID):
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messages += [
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("Throttle", 100),
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("Transmission", 100)
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]
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if CP.enableBsm:
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messages.append(("BSD_RCTA", 17))
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if not (CP.flags & SubaruFlags.PREGLOBAL):
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if not (CP.flags & SubaruFlags.GLOBAL_GEN2):
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messages += CarState.get_common_global_body_messages(CP)
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else:
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messages += CarState.get_common_preglobal_body_messages()
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return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.main)
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@staticmethod
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def get_cam_can_parser(CP):
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if CP.flags & SubaruFlags.PREGLOBAL:
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messages = [
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("ES_DashStatus", 20),
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("ES_Distance", 20),
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]
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else:
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messages = [
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("ES_DashStatus", 10),
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("ES_LKAS_State", 10),
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]
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if not (CP.flags & SubaruFlags.GLOBAL_GEN2):
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messages += CarState.get_common_global_es_messages(CP)
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if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
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messages.append(("ES_Infotainment", 10))
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return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.camera)
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@staticmethod
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def get_body_can_parser(CP):
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messages = []
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if CP.flags & SubaruFlags.GLOBAL_GEN2:
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messages += CarState.get_common_global_body_messages(CP)
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messages += CarState.get_common_global_es_messages(CP)
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if CP.flags & SubaruFlags.HYBRID:
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messages += [
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("Throttle_Hybrid", 40),
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("Transmission", 100)
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]
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return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt)
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