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Remove invalid signals/checks

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This commit is contained in:
Rick Lan
2019-02-21 22:14:08 +10:00
parent 4ab5a70cdb
commit 5f268f3d9e
1 changed files with 18 additions and 9 deletions
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selfdrive/car/toyota/carstate.py
+18 -9
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@@ -37,16 +37,11 @@ def get_can_parser(CP):
("GAS_RELEASED", "PCM_CRUISE", 0),
("CRUISE_ACTIVE", "PCM_CRUISE", 0),
("CRUISE_STATE", "PCM_CRUISE", 0),
("MAIN_ON", "PCM_CRUISE_2", 0),
("SET_SPEED", "PCM_CRUISE_2", 0),
("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers
("LKA_STATE", "EPS_STATUS", 0),
("IPAS_STATE", "EPS_STATUS", 1),
("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
]
checks = [
@@ -60,6 +55,15 @@ def get_can_parser(CP):
("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),
@@ -173,7 +177,10 @@ class CarState(object):
# 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
if self.CP.carFingerprint == CAR.LEXUS_ISH:
self.ipas_active = False
else:
self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
self.brake_error = 0
self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -182,16 +189,18 @@ class CarState(object):
self.user_brake = 0
if self.CP.carFingerprint == CAR.LEXUS_ISH:
self.main_on = cp.vl["PCM_CRUISE_ISH"]['SET_SPEED']
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.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
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