mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-13 21:32:14 +08:00
martinl
54e4939168
* Change carstate signals to use feature-subaru-long dbc * Add Conventional_Cruise signal to carstate * Fix Conventional_Cruise signal source * Use Cruise_Cancel signal in subarucan * switch to subaru-global-2020 opendbc branch * Update release file * bump opendbc * switch panda to subaru-global-carstate branch * bump panda * bump opendbc * revert submodules for upstream PR * switch panda and opendbc to upstream * bump opendbc old-commit-hash: a086f52881f4a1f0d20486e7fa089a843d5d8b34
41 lines
1.1 KiB
Python
41 lines
1.1 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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# counts from 0 to 15 then back to 0 + 16 for enable bit
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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, visual_alert, left_line, right_line):
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values = copy.copy(es_lkas_msg)
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if visual_alert == VisualAlert.steerRequired:
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values["Keep_Hands_On_Wheel"] = 1
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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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