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ford: cleanup fordcan methods (#28026)

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* fordcan: consistent naming

* fordcan cleanup
This commit is contained in:
Cameron Clough
2023-04-25 18:15:56 -07:00
committed by GitHub
parent 86dd0923d4
commit 49220985f4
2 changed files with 37 additions and 37 deletions
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selfdrive/car/ford/carcontroller.py
+2 -2
View File
@@ -2,7 +2,7 @@ from cereal import car
from common.numpy_fast import clip
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_angle_limits
from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
from selfdrive.car.ford.fordcan import create_acc_msg, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams
@@ -76,7 +76,7 @@ class CarController:
gas = -5.0
decel = True
can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel))
can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, precharge_brake, decel))
### ui ###
send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
selfdrive/car/ford/fordcan.py
+35 -35
View File
@@ -97,7 +97,7 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float
return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)
def create_acc_command(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool):
def create_acc_msg(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool):
"""
Creates a CAN message for the Ford ACC Command.
@@ -117,6 +117,40 @@ def create_acc_command(packer, long_active: bool, gas: float, accel: float, prec
return packer.make_can_msg("ACCDATA", CANBUS.main, values)
def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
"""
Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status.
Stock functionality is maintained by passing through unmodified signals.
Frequency is 20Hz.
"""
# Tja_D_Stat
if enabled:
if hud_control.leftLaneDepart:
status = 3 # ActiveInterventionLeft
elif hud_control.rightLaneDepart:
status = 4 # ActiveInterventionRight
else:
status = 2 # Active
elif main_on:
if hud_control.leftLaneDepart:
status = 5 # ActiveWarningLeft
elif hud_control.rightLaneDepart:
status = 6 # ActiveWarningRight
else:
status = 1 # Standby
else:
status = 0 # Off
values = {
**stock_values,
"Tja_D_Stat": status,
}
return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict):
"""
Creates a CAN message for the Ford IPC IPMA/LKAS status.
@@ -168,40 +202,6 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool,
return packer.make_can_msg("IPMA_Data", CANBUS.main, values)
def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
"""
Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status.
Stock functionality is maintained by passing through unmodified signals.
Frequency is 20Hz.
"""
# Tja_D_Stat
if enabled:
if hud_control.leftLaneDepart:
status = 3 # ActiveInterventionLeft
elif hud_control.rightLaneDepart:
status = 4 # ActiveInterventionRight
else:
status = 2 # Active
elif main_on:
if hud_control.leftLaneDepart:
status = 5 # ActiveWarningLeft
elif hud_control.rightLaneDepart:
status = 6 # ActiveWarningRight
else:
status = 1 # Standby
else:
status = 0 # Off
values = {
**stock_values,
"Tja_D_Stat": status,
}
return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False,
bus: int = CANBUS.camera):
"""