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* refactor carstate

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This commit is contained in:
Rick Lan
2019-02-22 16:08:33 +10:00
parent 1d0dc50f98
commit 181dba4514
1 changed files with 15 additions and 21 deletions
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selfdrive/car/toyota/carstate.py
+15 -21
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@@ -45,35 +45,18 @@ def get_can_parser(CP):
]
checks = [
("BRAKE_MODULE", 40),
("GAS_PEDAL", 33),
("WHEEL_SPEEDS", 80),
("STEER_ANGLE_SENSOR", 80),
("PCM_CRUISE", 33),
("PCM_CRUISE_2", 33),
("STEER_TORQUE_SENSOR", 50),
("EPS_STATUS", 25),
]
if not CP.carFingerprint == CAR.LEXUS_ISH:
signals += [
("MAIN_ON", "PCM_CRUISE_2", 0),
("SET_SPEED", "PCM_CRUISE_2", 0),
("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
("IPAS_STATE", "EPS_STATUS", 1),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
]
if CP.carFingerprint == CAR.LEXUS_ISH:
checks = [
("BRAKE_MODULE", 50),
("GAS_PEDAL", 50),
("WHEEL_SPEEDS", 80),
("STEER_ANGLE_SENSOR", 80),
("PCM_CRUISE", 33),
("PCM_CRUISE_ISH", 1),
("STEER_TORQUE_SENSOR", 50),
("EPS_STATUS", 25),
]
signals += [
@@ -81,6 +64,19 @@ def get_can_parser(CP):
("SET_SPEED", "PCM_CRUISE_ISH", 0),
("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0),
]
else:
checks = [
("BRAKE_MODULE", 40),
("GAS_PEDAL", 33),
("PCM_CRUISE_2", 33),
]
signals += [
("MAIN_ON", "PCM_CRUISE_2", 0),
("SET_SPEED", "PCM_CRUISE_2", 0),
("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
("IPAS_STATE", "EPS_STATUS", 1),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
]
if CP.carFingerprint == CAR.PRIUS:
signals += [("STATE", "AUTOPARK_STATUS", 0)]
@@ -192,15 +188,13 @@ class CarState(object):
self.v_cruise_pcm = cp.vl["PCM_CRUISE_ISH"]['SET_SPEED']
# ish does not have curise status value (always 0), so we use curise_active value instead
self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
self.low_speed_lockout = False
else:
self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
if self.CP.carFingerprint == CAR.PRIUS:
self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0