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https://github.com/firestar5683/StarPilot.git
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firestar5683
72 lines
3.4 KiB
Python
72 lines
3.4 KiB
Python
"""Configuration codec for real selected Honda CarState parser subscriptions.
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Every subscribed source is packed by its own current production DBC. No parser
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health, state, native grant, or clock is injected by this codec.
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"""
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from opendbc.can.packer import CANPacker
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from opendbc.car import Bus
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from opendbc.car.honda.values import HondaFlags
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class HondaCan:
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def __init__(self, ci):
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self.ci = ci
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ci.update([])
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self.packers = {bus: CANPacker(parser.dbc.name) for bus, parser in ci.can_parsers.items()}
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self.gear_msg = ci.CS.gearbox_msg
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self.main_msg = ci.CS.car_state_scm_msg
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self.required = {
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'SCM_BUTTONS': {'CRUISE_BUTTONS', 'CRUISE_SETTING'},
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'ENGINE_DATA': {'XMISSION_SPEED'},
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'WHEEL_SPEEDS': {'WHEEL_SPEED_FL', 'WHEEL_SPEED_FR', 'WHEEL_SPEED_RL', 'WHEEL_SPEED_RR'},
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'POWERTRAIN_DATA': {'ACC_STATUS', 'BRAKE_PRESSED', 'BRAKE_SWITCH', 'PEDAL_GAS'},
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'STEER_STATUS': {'STEER_STATUS', 'STEER_TORQUE_SENSOR'},
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self.gear_msg: {'GEAR_SHIFTER'},
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'SEATBELT_STATUS': {'SEATBELT_DRIVER_LATCHED', 'SEATBELT_DRIVER_LAMP'},
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}
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self.required.setdefault(self.main_msg, set()).add('MAIN_ON')
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pt = ci.can_parsers[Bus.pt]
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for name, fields in self.required.items():
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assert name in pt.dbc.name_to_msg and fields <= pt.dbc.name_to_msg[name].sigs.keys(), (name, fields)
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assert pt.dbc.name_to_msg[name].address in pt.addresses, name
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assert self.gear_msg in ('GEARBOX_AUTO', 'GEARBOX_CVT')
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drive = [value for value, name in ci.CS.shifter_values.items() if name == 'D']
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assert len(drive) == 1, ci.CS.shifter_values
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self.drive = drive[0]
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self.alt_brake = bool(ci.CP.flags & HondaFlags.BOSCH_ALT_BRAKE)
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if self.alt_brake:
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brake_msg = pt.dbc.name_to_msg['BRAKE_MODULE']
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assert (brake_msg.address, brake_msg.size) == (0x1BE, 3)
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assert 'BRAKE_PRESSED' in brake_msg.sigs
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assert brake_msg.address in pt.addresses
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def frames(self, *, cruise_button=0, lkas=0, cruise=0, brake=False, main=True, eps=0, gear=None, gas=0, omit=(), speed_kph=45.):
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intended: dict[str, dict[str, float]] = {
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'SCM_BUTTONS': {'CRUISE_BUTTONS': cruise_button, 'CRUISE_SETTING': lkas},
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'ENGINE_DATA': {'XMISSION_SPEED': speed_kph},
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'WHEEL_SPEEDS': {f'WHEEL_SPEED_{wheel}': speed_kph for wheel in ('FL', 'FR', 'RL', 'RR')},
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'POWERTRAIN_DATA': {
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'ACC_STATUS': cruise,
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'BRAKE_PRESSED': 0 if self.alt_brake else int(brake),
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'BRAKE_SWITCH': 0 if self.alt_brake else int(brake),
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'PEDAL_GAS': gas,
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},
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'STEER_STATUS': {'STEER_STATUS': eps, 'STEER_TORQUE_SENSOR': 0},
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self.gear_msg: {'GEAR_SHIFTER': self.drive if gear is None else gear},
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'SEATBELT_STATUS': {'SEATBELT_DRIVER_LATCHED': 1, 'SEATBELT_DRIVER_LAMP': 0},
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'BRAKE_MODULE': {'BRAKE_PRESSED': int(brake)},
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'ACC_HUD': {'CRUISE_SPEED': 45.0},
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'CRUISE': {'CRUISE_SPEED_PCM': 45.0},
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}
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intended.setdefault(self.main_msg, {})['MAIN_ON'] = int(main)
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frames = []
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for bus, parser in self.ci.can_parsers.items():
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for address in sorted(parser.addresses):
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name = parser.dbc.addr_to_msg[address].name
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if (bus, name) in omit:
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continue
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values = intended.get(name, {}) if bus == Bus.pt else {}
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assert values.keys() <= parser.dbc.name_to_msg[name].sigs.keys(), (name, values)
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frames.append(self.packers[bus].make_can_msg(name, parser.bus, values))
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return frames
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