mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-27 00:42:05 +08:00
get_can_parser and get_cam_can_parser are now standard static methods (#1136)
This commit is contained in:
rbiasini
@@ -29,10 +29,12 @@ def load_interfaces(brand_names):
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CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
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if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carcontroller.py'):
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CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
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CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
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else:
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CarController = None
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CarState = None
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for model_name in brand_names[brand_name]:
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ret[model_name] = (CarInterface, CarController)
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ret[model_name] = (CarInterface, CarController, CarState)
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return ret
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@@ -149,10 +151,10 @@ def get_car(logcan, sendcan, has_relay=False):
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cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
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candidate = "mock"
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CarInterface, CarController = interfaces[candidate]
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CarInterface, CarController, CarState = interfaces[candidate]
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car_params = CarInterface.get_params(candidate, fingerprints, has_relay, car_fw)
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car_params.carVin = vin
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car_params.carFw = car_fw
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car_params.fingerprintSource = source
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return CarInterface(car_params, CarController), car_params
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return CarInterface(car_params, CarController, CarState), car_params
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@@ -5,62 +5,6 @@ from selfdrive.config import Conversions as CV
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from selfdrive.car.interfaces import CarStateBase
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from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
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def get_can_parser(CP):
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signals = [
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# sig_name, sig_address, default
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("PRNDL", "GEAR", 0),
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("DOOR_OPEN_FL", "DOORS", 0),
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("DOOR_OPEN_FR", "DOORS", 0),
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("DOOR_OPEN_RL", "DOORS", 0),
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("DOOR_OPEN_RR", "DOORS", 0),
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("BRAKE_PRESSED_2", "BRAKE_2", 0),
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("ACCEL_134", "ACCEL_GAS_134", 0),
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("SPEED_LEFT", "SPEED_1", 0),
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("SPEED_RIGHT", "SPEED_1", 0),
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("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
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("STEER_ANGLE", "STEERING", 0),
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("STEERING_RATE", "STEERING", 0),
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("TURN_SIGNALS", "STEERING_LEVERS", 0),
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("ACC_STATUS_2", "ACC_2", 0),
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("HIGH_BEAM_FLASH", "STEERING_LEVERS", 0),
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("ACC_SPEED_CONFIG_KPH", "DASHBOARD", 0),
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("TORQUE_DRIVER", "EPS_STATUS", 0),
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("TORQUE_MOTOR", "EPS_STATUS", 0),
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("LKAS_STATE", "EPS_STATUS", 1),
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("COUNTER", "EPS_STATUS", -1),
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("TRACTION_OFF", "TRACTION_BUTTON", 0),
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("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS", 0),
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]
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# It's considered invalid if it is not received for 10x the expected period (1/f).
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checks = [
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# sig_address, frequency
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("BRAKE_2", 50),
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("EPS_STATUS", 100),
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("SPEED_1", 100),
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("WHEEL_SPEEDS", 50),
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("STEERING", 100),
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("ACC_2", 50),
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
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def get_camera_parser(CP):
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signals = [
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# sig_name, sig_address, default
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# TODO read in all the other values
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("COUNTER", "LKAS_COMMAND", -1),
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("CAR_MODEL", "LKAS_HUD", -1),
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("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
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]
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checks = []
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
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class CarState(CarStateBase):
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def __init__(self, CP):
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@@ -119,3 +63,58 @@ class CarState(CarStateBase):
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self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]['LKAS_STATUS_OK']
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return ret
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@staticmethod
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def get_can_parser(CP):
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signals = [
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# sig_name, sig_address, default
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("PRNDL", "GEAR", 0),
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("DOOR_OPEN_FL", "DOORS", 0),
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("DOOR_OPEN_FR", "DOORS", 0),
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("DOOR_OPEN_RL", "DOORS", 0),
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("DOOR_OPEN_RR", "DOORS", 0),
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("BRAKE_PRESSED_2", "BRAKE_2", 0),
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("ACCEL_134", "ACCEL_GAS_134", 0),
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("SPEED_LEFT", "SPEED_1", 0),
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("SPEED_RIGHT", "SPEED_1", 0),
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("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
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("STEER_ANGLE", "STEERING", 0),
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("STEERING_RATE", "STEERING", 0),
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("TURN_SIGNALS", "STEERING_LEVERS", 0),
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("ACC_STATUS_2", "ACC_2", 0),
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("HIGH_BEAM_FLASH", "STEERING_LEVERS", 0),
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("ACC_SPEED_CONFIG_KPH", "DASHBOARD", 0),
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("TORQUE_DRIVER", "EPS_STATUS", 0),
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("TORQUE_MOTOR", "EPS_STATUS", 0),
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("LKAS_STATE", "EPS_STATUS", 1),
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("COUNTER", "EPS_STATUS", -1),
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("TRACTION_OFF", "TRACTION_BUTTON", 0),
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("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS", 0),
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]
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checks = [
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# sig_address, frequency
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("BRAKE_2", 50),
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("EPS_STATUS", 100),
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("SPEED_1", 100),
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("WHEEL_SPEEDS", 50),
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("STEERING", 100),
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("ACC_2", 50),
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
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@staticmethod
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def get_cam_can_parser(CP):
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signals = [
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# sig_name, sig_address, default
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("COUNTER", "LKAS_COMMAND", -1),
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("CAR_MODEL", "LKAS_HUD", -1),
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("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
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]
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checks = []
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
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@@ -2,7 +2,6 @@
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from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
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from selfdrive.car.chrysler.carstate import CarState, get_can_parser, get_camera_parser
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from selfdrive.car.chrysler.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
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from selfdrive.car.interfaces import CarInterfaceBase
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@@ -11,8 +10,8 @@ GearShifter = car.CarState.GearShifter
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ButtonType = car.CarState.ButtonEvent.Type
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController):
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super().__init__(CP, CarController, CarState, get_can_parser, get_cam_can_parser=get_camera_parser)
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def __init__(self, CP, CarController, CarState):
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super().__init__(CP, CarController, CarState)
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self.low_speed_alert = False
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@@ -7,32 +7,6 @@ from selfdrive.car.ford.values import DBC
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WHEEL_RADIUS = 0.33
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def get_can_parser(CP):
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signals = [
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# sig_name, sig_address, default
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("WhlRr_W_Meas", "WheelSpeed_CG1", 0.),
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("WhlRl_W_Meas", "WheelSpeed_CG1", 0.),
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("WhlFr_W_Meas", "WheelSpeed_CG1", 0.),
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("WhlFl_W_Meas", "WheelSpeed_CG1", 0.),
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("SteWhlRelInit_An_Sns", "Steering_Wheel_Data_CG1", 0.),
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("Cruise_State", "Cruise_Status", 0.),
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("Set_Speed", "Cruise_Status", 0.),
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("LaActAvail_D_Actl", "Lane_Keep_Assist_Status", 0),
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("LaHandsOff_B_Actl", "Lane_Keep_Assist_Status", 0),
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("LaActDeny_B_Actl", "Lane_Keep_Assist_Status", 0),
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("ApedPosScal_Pc_Actl", "EngineData_14", 0.),
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("Dist_Incr", "Steering_Buttons", 0.),
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("Brake_Drv_Appl", "Cruise_Status", 0.),
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("Brake_Lights", "BCM_to_HS_Body", 0.),
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]
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checks = [
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
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class CarState(CarStateBase):
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def update(self, cp):
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ret = car.CarState.new_message()
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@@ -58,3 +32,25 @@ class CarState(CarStateBase):
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self.steer_error = cp.vl["Lane_Keep_Assist_Status"]['LaActDeny_B_Actl']
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return ret
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@staticmethod
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def get_can_parser(CP):
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signals = [
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# sig_name, sig_address, default
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("WhlRr_W_Meas", "WheelSpeed_CG1", 0.),
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("WhlRl_W_Meas", "WheelSpeed_CG1", 0.),
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("WhlFr_W_Meas", "WheelSpeed_CG1", 0.),
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("WhlFl_W_Meas", "WheelSpeed_CG1", 0.),
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("SteWhlRelInit_An_Sns", "Steering_Wheel_Data_CG1", 0.),
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("Cruise_State", "Cruise_Status", 0.),
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("Set_Speed", "Cruise_Status", 0.),
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("LaActAvail_D_Actl", "Lane_Keep_Assist_Status", 0),
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("LaHandsOff_B_Actl", "Lane_Keep_Assist_Status", 0),
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("LaActDeny_B_Actl", "Lane_Keep_Assist_Status", 0),
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("ApedPosScal_Pc_Actl", "EngineData_14", 0.),
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("Dist_Incr", "Steering_Buttons", 0.),
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("Brake_Drv_Appl", "Cruise_Status", 0.),
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("Brake_Lights", "BCM_to_HS_Body", 0.),
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]
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checks = []
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
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@@ -3,15 +3,12 @@ from cereal import car
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from selfdrive.swaglog import cloudlog
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
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from selfdrive.car.ford.carstate import CarState, get_can_parser
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from selfdrive.car.ford.values import MAX_ANGLE, Ecu, ECU_FINGERPRINT, FINGERPRINTS
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
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from selfdrive.car.interfaces import CarInterfaceBase
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController):
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super().__init__(CP, CarController, CarState, get_can_parser)
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@staticmethod
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def compute_gb(accel, speed):
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@@ -8,47 +8,6 @@ from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
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CruiseButtons, is_eps_status_ok, \
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STEER_THRESHOLD, SUPERCRUISE_CARS
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def get_powertrain_can_parser(CP):
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# this function generates lists for signal, messages and initial values
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signals = [
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# sig_name, sig_address, default
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("BrakePedalPosition", "EBCMBrakePedalPosition", 0),
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("FrontLeftDoor", "BCMDoorBeltStatus", 0),
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("FrontRightDoor", "BCMDoorBeltStatus", 0),
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("RearLeftDoor", "BCMDoorBeltStatus", 0),
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("RearRightDoor", "BCMDoorBeltStatus", 0),
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("LeftSeatBelt", "BCMDoorBeltStatus", 0),
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("RightSeatBelt", "BCMDoorBeltStatus", 0),
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("TurnSignals", "BCMTurnSignals", 0),
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("AcceleratorPedal", "AcceleratorPedal", 0),
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("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
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("SteeringWheelAngle", "PSCMSteeringAngle", 0),
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("FLWheelSpd", "EBCMWheelSpdFront", 0),
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("FRWheelSpd", "EBCMWheelSpdFront", 0),
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("RLWheelSpd", "EBCMWheelSpdRear", 0),
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("RRWheelSpd", "EBCMWheelSpdRear", 0),
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("PRNDL", "ECMPRDNL", 0),
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("LKADriverAppldTrq", "PSCMStatus", 0),
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("LKATorqueDeliveredStatus", "PSCMStatus", 0),
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]
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if CP.carFingerprint == CAR.VOLT:
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signals += [
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("RegenPaddle", "EBCMRegenPaddle", 0),
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]
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if CP.carFingerprint in SUPERCRUISE_CARS:
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signals += [
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("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0)
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]
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else:
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signals += [
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("TractionControlOn", "ESPStatus", 0),
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("EPBClosed", "EPBStatus", 0),
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("CruiseMainOn", "ECMEngineStatus", 0),
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("CruiseState", "AcceleratorPedal2", 0),
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], CanBus.POWERTRAIN)
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class CarState(CarStateBase):
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@@ -123,3 +82,46 @@ class CarState(CarStateBase):
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self.steer_not_allowed = not is_eps_status_ok(self.lkas_status, self.car_fingerprint)
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return ret
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@staticmethod
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def get_can_parser(CP):
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# this function generates lists for signal, messages and initial values
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signals = [
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# sig_name, sig_address, default
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("BrakePedalPosition", "EBCMBrakePedalPosition", 0),
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("FrontLeftDoor", "BCMDoorBeltStatus", 0),
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("FrontRightDoor", "BCMDoorBeltStatus", 0),
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("RearLeftDoor", "BCMDoorBeltStatus", 0),
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("RearRightDoor", "BCMDoorBeltStatus", 0),
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("LeftSeatBelt", "BCMDoorBeltStatus", 0),
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("RightSeatBelt", "BCMDoorBeltStatus", 0),
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("TurnSignals", "BCMTurnSignals", 0),
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("AcceleratorPedal", "AcceleratorPedal", 0),
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("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
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("SteeringWheelAngle", "PSCMSteeringAngle", 0),
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("FLWheelSpd", "EBCMWheelSpdFront", 0),
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("FRWheelSpd", "EBCMWheelSpdFront", 0),
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("RLWheelSpd", "EBCMWheelSpdRear", 0),
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("RRWheelSpd", "EBCMWheelSpdRear", 0),
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("PRNDL", "ECMPRDNL", 0),
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("LKADriverAppldTrq", "PSCMStatus", 0),
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("LKATorqueDeliveredStatus", "PSCMStatus", 0),
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]
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if CP.carFingerprint == CAR.VOLT:
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signals += [
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("RegenPaddle", "EBCMRegenPaddle", 0),
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]
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if CP.carFingerprint in SUPERCRUISE_CARS:
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signals += [
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("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0)
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]
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else:
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signals += [
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("TractionControlOn", "ESPStatus", 0),
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("EPBClosed", "EPBStatus", 0),
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("CruiseMainOn", "ECMEngineStatus", 0),
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("CruiseState", "AcceleratorPedal2", 0),
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], CanBus.POWERTRAIN)
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@@ -2,17 +2,16 @@
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from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
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from selfdrive.car.gm.values import CAR, Ecu, ECU_FINGERPRINT, \
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from selfdrive.car.gm.values import CAR, Ecu, ECU_FINGERPRINT, CruiseButtons, \
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SUPERCRUISE_CARS, AccState, FINGERPRINTS
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from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
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from selfdrive.car.interfaces import CarInterfaceBase
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ButtonType = car.CarState.ButtonEvent.Type
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController):
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super().__init__(CP, CarController, CarState, get_powertrain_can_parser)
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def __init__(self, CP, CarController, CarState):
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super().__init__(CP, CarController, CarState)
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self.acc_active_prev = 0
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@@ -150,37 +150,6 @@ def get_can_signals(CP):
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return signals, checks
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def get_can_parser(CP):
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signals, checks = get_can_signals(CP)
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bus_pt = 1 if CP.isPandaBlack and CP.carFingerprint in HONDA_BOSCH else 0
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_pt)
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def get_cam_can_parser(CP):
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signals = []
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if CP.carFingerprint in HONDA_BOSCH:
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signals += [("ACCEL_COMMAND", "ACC_CONTROL", 0),
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("AEB_STATUS", "ACC_CONTROL", 0)]
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else:
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signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND", 0),
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("AEB_REQ_1", "BRAKE_COMMAND", 0),
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("FCW", "BRAKE_COMMAND", 0),
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("CHIME", "BRAKE_COMMAND", 0),
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("FCM_OFF", "ACC_HUD", 0),
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("FCM_OFF_2", "ACC_HUD", 0),
|
||||
("FCM_PROBLEM", "ACC_HUD", 0),
|
||||
("ICONS", "ACC_HUD", 0)]
|
||||
|
||||
|
||||
# all hondas except CRV, RDX and 2019 Odyssey@China use 0xe4 for steering
|
||||
checks = [(0xe4, 100)]
|
||||
if CP.carFingerprint in [CAR.CRV, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
|
||||
checks = [(0x194, 100)]
|
||||
|
||||
bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH and not CP.isPandaBlack else 2
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_cam)
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
@@ -341,3 +310,35 @@ class CarState(CarStateBase):
|
||||
self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def get_can_parser(CP):
|
||||
signals, checks = get_can_signals(CP)
|
||||
bus_pt = 1 if CP.isPandaBlack and CP.carFingerprint in HONDA_BOSCH else 0
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_pt)
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
signals = []
|
||||
|
||||
if CP.carFingerprint in HONDA_BOSCH:
|
||||
signals += [("ACCEL_COMMAND", "ACC_CONTROL", 0),
|
||||
("AEB_STATUS", "ACC_CONTROL", 0)]
|
||||
else:
|
||||
signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND", 0),
|
||||
("AEB_REQ_1", "BRAKE_COMMAND", 0),
|
||||
("FCW", "BRAKE_COMMAND", 0),
|
||||
("CHIME", "BRAKE_COMMAND", 0),
|
||||
("FCM_OFF", "ACC_HUD", 0),
|
||||
("FCM_OFF_2", "ACC_HUD", 0),
|
||||
("FCM_PROBLEM", "ACC_HUD", 0),
|
||||
("ICONS", "ACC_HUD", 0)]
|
||||
|
||||
|
||||
# all hondas except CRV, RDX and 2019 Odyssey@China use 0xe4 for steering
|
||||
checks = [(0xe4, 100)]
|
||||
if CP.carFingerprint in [CAR.CRV, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
|
||||
checks = [(0x194, 100)]
|
||||
|
||||
bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH and not CP.isPandaBlack else 2
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_cam)
|
||||
|
||||
@@ -6,7 +6,6 @@ from common.realtime import DT_CTRL
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
|
||||
from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
|
||||
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, Ecu, ECU_FINGERPRINT, FINGERPRINTS
|
||||
from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
|
||||
from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
|
||||
@@ -72,8 +71,8 @@ def get_compute_gb_acura():
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
def __init__(self, CP, CarController):
|
||||
super().__init__(CP, CarController, CarState, get_can_parser, get_cam_can_parser=get_cam_can_parser)
|
||||
def __init__(self, CP, CarController, CarState):
|
||||
super().__init__(CP, CarController, CarState)
|
||||
|
||||
self.last_enable_pressed = 0
|
||||
self.last_enable_sent = 0
|
||||
|
||||
+118
-118
@@ -6,124 +6,6 @@ from selfdrive.config import Conversions as CV
|
||||
|
||||
GearShifter = car.CarState.GearShifter
|
||||
|
||||
def get_can_parser(CP):
|
||||
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("WHL_SPD_FL", "WHL_SPD11", 0),
|
||||
("WHL_SPD_FR", "WHL_SPD11", 0),
|
||||
("WHL_SPD_RL", "WHL_SPD11", 0),
|
||||
("WHL_SPD_RR", "WHL_SPD11", 0),
|
||||
|
||||
("YAW_RATE", "ESP12", 0),
|
||||
|
||||
("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
|
||||
|
||||
("CF_Gway_DrvSeatBeltSw", "CGW1", 0),
|
||||
("CF_Gway_TSigLHSw", "CGW1", 0),
|
||||
("CF_Gway_TurnSigLh", "CGW1", 0),
|
||||
("CF_Gway_TSigRHSw", "CGW1", 0),
|
||||
("CF_Gway_TurnSigRh", "CGW1", 0),
|
||||
("CF_Gway_ParkBrakeSw", "CGW1", 0),
|
||||
|
||||
("BRAKE_ACT", "EMS12", 0),
|
||||
("PV_AV_CAN", "EMS12", 0),
|
||||
("TPS", "EMS12", 0),
|
||||
|
||||
("CYL_PRES", "ESP12", 0),
|
||||
|
||||
("CF_Clu_CruiseSwState", "CLU11", 0),
|
||||
("CF_Clu_CruiseSwMain", "CLU11", 0),
|
||||
("CF_Clu_SldMainSW", "CLU11", 0),
|
||||
("CF_Clu_ParityBit1", "CLU11", 0),
|
||||
("CF_Clu_VanzDecimal" , "CLU11", 0),
|
||||
("CF_Clu_Vanz", "CLU11", 0),
|
||||
("CF_Clu_SPEED_UNIT", "CLU11", 0),
|
||||
("CF_Clu_DetentOut", "CLU11", 0),
|
||||
("CF_Clu_RheostatLevel", "CLU11", 0),
|
||||
("CF_Clu_CluInfo", "CLU11", 0),
|
||||
("CF_Clu_AmpInfo", "CLU11", 0),
|
||||
("CF_Clu_AliveCnt1", "CLU11", 0),
|
||||
|
||||
("CF_Clu_InhibitD", "CLU15", 0),
|
||||
("CF_Clu_InhibitP", "CLU15", 0),
|
||||
("CF_Clu_InhibitN", "CLU15", 0),
|
||||
("CF_Clu_InhibitR", "CLU15", 0),
|
||||
|
||||
("CF_Lvr_Gear", "LVR12",0),
|
||||
("CUR_GR", "TCU12",0),
|
||||
|
||||
("ACCEnable", "TCS13", 0),
|
||||
("ACC_REQ", "TCS13", 0),
|
||||
("DriverBraking", "TCS13", 0),
|
||||
("DriverOverride", "TCS13", 0),
|
||||
|
||||
("ESC_Off_Step", "TCS15", 0),
|
||||
|
||||
("CF_Lvr_GearInf", "LVR11", 0), #Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
|
||||
|
||||
("CR_Mdps_DrvTq", "MDPS11", 0),
|
||||
|
||||
("CR_Mdps_StrColTq", "MDPS12", 0),
|
||||
("CF_Mdps_ToiActive", "MDPS12", 0),
|
||||
("CF_Mdps_ToiUnavail", "MDPS12", 0),
|
||||
("CF_Mdps_FailStat", "MDPS12", 0),
|
||||
("CR_Mdps_OutTq", "MDPS12", 0),
|
||||
|
||||
("VSetDis", "SCC11", 0),
|
||||
("SCCInfoDisplay", "SCC11", 0),
|
||||
("ACCMode", "SCC12", 1),
|
||||
|
||||
("SAS_Angle", "SAS11", 0),
|
||||
("SAS_Speed", "SAS11", 0),
|
||||
]
|
||||
|
||||
checks = [
|
||||
# address, frequency
|
||||
("MDPS12", 50),
|
||||
("MDPS11", 100),
|
||||
("TCS15", 10),
|
||||
("TCS13", 50),
|
||||
("CLU11", 50),
|
||||
("ESP12", 100),
|
||||
("EMS12", 100),
|
||||
("CGW1", 10),
|
||||
("CGW4", 5),
|
||||
("WHL_SPD11", 50),
|
||||
("SCC11", 50),
|
||||
("SCC12", 50),
|
||||
("SAS11", 100)
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
||||
|
||||
|
||||
def get_camera_parser(CP):
|
||||
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("CF_Lkas_LdwsSysState", "LKAS11", 0),
|
||||
("CF_Lkas_SysWarning", "LKAS11", 0),
|
||||
("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
|
||||
("CF_Lkas_LdwsRHWarning", "LKAS11", 0),
|
||||
("CF_Lkas_HbaLamp", "LKAS11", 0),
|
||||
("CF_Lkas_FcwBasReq", "LKAS11", 0),
|
||||
("CF_Lkas_ToiFlt", "LKAS11", 0),
|
||||
("CF_Lkas_HbaSysState", "LKAS11", 0),
|
||||
("CF_Lkas_FcwOpt", "LKAS11", 0),
|
||||
("CF_Lkas_HbaOpt", "LKAS11", 0),
|
||||
("CF_Lkas_FcwSysState", "LKAS11", 0),
|
||||
("CF_Lkas_FcwCollisionWarning", "LKAS11", 0),
|
||||
("CF_Lkas_FusionState", "LKAS11", 0),
|
||||
("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
|
||||
("CF_Lkas_LdwsOpt_USM", "LKAS11", 0)
|
||||
]
|
||||
|
||||
checks = []
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
|
||||
def update(self, cp, cp_cam):
|
||||
@@ -225,3 +107,121 @@ class CarState(CarStateBase):
|
||||
self.brake_error = 0
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def get_can_parser(CP):
|
||||
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("WHL_SPD_FL", "WHL_SPD11", 0),
|
||||
("WHL_SPD_FR", "WHL_SPD11", 0),
|
||||
("WHL_SPD_RL", "WHL_SPD11", 0),
|
||||
("WHL_SPD_RR", "WHL_SPD11", 0),
|
||||
|
||||
("YAW_RATE", "ESP12", 0),
|
||||
|
||||
("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
|
||||
|
||||
("CF_Gway_DrvSeatBeltSw", "CGW1", 0),
|
||||
("CF_Gway_TSigLHSw", "CGW1", 0),
|
||||
("CF_Gway_TurnSigLh", "CGW1", 0),
|
||||
("CF_Gway_TSigRHSw", "CGW1", 0),
|
||||
("CF_Gway_TurnSigRh", "CGW1", 0),
|
||||
("CF_Gway_ParkBrakeSw", "CGW1", 0),
|
||||
|
||||
("BRAKE_ACT", "EMS12", 0),
|
||||
("PV_AV_CAN", "EMS12", 0),
|
||||
("TPS", "EMS12", 0),
|
||||
|
||||
("CYL_PRES", "ESP12", 0),
|
||||
|
||||
("CF_Clu_CruiseSwState", "CLU11", 0),
|
||||
("CF_Clu_CruiseSwMain", "CLU11", 0),
|
||||
("CF_Clu_SldMainSW", "CLU11", 0),
|
||||
("CF_Clu_ParityBit1", "CLU11", 0),
|
||||
("CF_Clu_VanzDecimal" , "CLU11", 0),
|
||||
("CF_Clu_Vanz", "CLU11", 0),
|
||||
("CF_Clu_SPEED_UNIT", "CLU11", 0),
|
||||
("CF_Clu_DetentOut", "CLU11", 0),
|
||||
("CF_Clu_RheostatLevel", "CLU11", 0),
|
||||
("CF_Clu_CluInfo", "CLU11", 0),
|
||||
("CF_Clu_AmpInfo", "CLU11", 0),
|
||||
("CF_Clu_AliveCnt1", "CLU11", 0),
|
||||
|
||||
("CF_Clu_InhibitD", "CLU15", 0),
|
||||
("CF_Clu_InhibitP", "CLU15", 0),
|
||||
("CF_Clu_InhibitN", "CLU15", 0),
|
||||
("CF_Clu_InhibitR", "CLU15", 0),
|
||||
|
||||
("CF_Lvr_Gear", "LVR12",0),
|
||||
("CUR_GR", "TCU12",0),
|
||||
|
||||
("ACCEnable", "TCS13", 0),
|
||||
("ACC_REQ", "TCS13", 0),
|
||||
("DriverBraking", "TCS13", 0),
|
||||
("DriverOverride", "TCS13", 0),
|
||||
|
||||
("ESC_Off_Step", "TCS15", 0),
|
||||
|
||||
("CF_Lvr_GearInf", "LVR11", 0), #Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
|
||||
|
||||
("CR_Mdps_DrvTq", "MDPS11", 0),
|
||||
|
||||
("CR_Mdps_StrColTq", "MDPS12", 0),
|
||||
("CF_Mdps_ToiActive", "MDPS12", 0),
|
||||
("CF_Mdps_ToiUnavail", "MDPS12", 0),
|
||||
("CF_Mdps_FailStat", "MDPS12", 0),
|
||||
("CR_Mdps_OutTq", "MDPS12", 0),
|
||||
|
||||
("VSetDis", "SCC11", 0),
|
||||
("SCCInfoDisplay", "SCC11", 0),
|
||||
("ACCMode", "SCC12", 1),
|
||||
|
||||
("SAS_Angle", "SAS11", 0),
|
||||
("SAS_Speed", "SAS11", 0),
|
||||
]
|
||||
|
||||
checks = [
|
||||
# address, frequency
|
||||
("MDPS12", 50),
|
||||
("MDPS11", 100),
|
||||
("TCS15", 10),
|
||||
("TCS13", 50),
|
||||
("CLU11", 50),
|
||||
("ESP12", 100),
|
||||
("EMS12", 100),
|
||||
("CGW1", 10),
|
||||
("CGW4", 5),
|
||||
("WHL_SPD11", 50),
|
||||
("SCC11", 50),
|
||||
("SCC12", 50),
|
||||
("SAS11", 100)
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("CF_Lkas_LdwsSysState", "LKAS11", 0),
|
||||
("CF_Lkas_SysWarning", "LKAS11", 0),
|
||||
("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
|
||||
("CF_Lkas_LdwsRHWarning", "LKAS11", 0),
|
||||
("CF_Lkas_HbaLamp", "LKAS11", 0),
|
||||
("CF_Lkas_FcwBasReq", "LKAS11", 0),
|
||||
("CF_Lkas_ToiFlt", "LKAS11", 0),
|
||||
("CF_Lkas_HbaSysState", "LKAS11", 0),
|
||||
("CF_Lkas_FcwOpt", "LKAS11", 0),
|
||||
("CF_Lkas_HbaOpt", "LKAS11", 0),
|
||||
("CF_Lkas_FcwSysState", "LKAS11", 0),
|
||||
("CF_Lkas_FcwCollisionWarning", "LKAS11", 0),
|
||||
("CF_Lkas_FusionState", "LKAS11", 0),
|
||||
("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
|
||||
("CF_Lkas_LdwsOpt_USM", "LKAS11", 0)
|
||||
]
|
||||
|
||||
checks = []
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
|
||||
|
||||
@@ -2,7 +2,6 @@
|
||||
from cereal import car
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
|
||||
from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_parser
|
||||
from selfdrive.car.hyundai.values import Ecu, ECU_FINGERPRINT, CAR, get_hud_alerts, FINGERPRINTS
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
@@ -11,8 +10,8 @@ GearShifter = car.CarState.GearShifter
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
def __init__(self, CP, CarController):
|
||||
super().__init__(CP, CarController, CarState, get_can_parser, get_cam_can_parser=get_camera_parser)
|
||||
def __init__(self, CP, CarController, CarState):
|
||||
super().__init__(CP, CarController, CarState)
|
||||
|
||||
self.idx = 0
|
||||
self.lanes = 0
|
||||
|
||||
@@ -11,7 +11,7 @@ GearShifter = car.CarState.GearShifter
|
||||
# generic car and radar interfaces
|
||||
|
||||
class CarInterfaceBase():
|
||||
def __init__(self, CP, CarController, CarState, get_can_parser, get_cam_can_parser=None):
|
||||
def __init__(self, CP, CarController, CarState):
|
||||
self.CP = CP
|
||||
self.VM = VehicleModel(CP)
|
||||
|
||||
@@ -21,9 +21,8 @@ class CarInterfaceBase():
|
||||
self.cruise_enabled_prev = False
|
||||
|
||||
self.CS = CarState(CP)
|
||||
self.cp = get_can_parser(CP)
|
||||
if get_cam_can_parser is not None:
|
||||
self.cp_cam = get_cam_can_parser(CP)
|
||||
self.cp = self.CS.get_can_parser(CP)
|
||||
self.cp_cam = self.CS.get_cam_can_parser(CP)
|
||||
|
||||
self.CC = None
|
||||
if CarController is not None:
|
||||
@@ -88,3 +87,7 @@ class CarStateBase:
|
||||
return {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
|
||||
'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
|
||||
'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake}.get(gear, GearShifter.unknown)
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
return None
|
||||
|
||||
@@ -14,7 +14,7 @@ LPG = 2 * 3.1415 * YAW_FR * TS / (1 + 2 * 3.1415 * YAW_FR * TS)
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
def __init__(self, CP, CarController):
|
||||
def __init__(self, CP, CarController, CarState):
|
||||
self.CP = CP
|
||||
self.CC = CarController
|
||||
|
||||
|
||||
@@ -5,83 +5,6 @@ from selfdrive.car.interfaces import CarStateBase
|
||||
from opendbc.can.parser import CANParser
|
||||
from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD
|
||||
|
||||
def get_powertrain_can_parser(CP):
|
||||
# this function generates lists for signal, messages and initial values
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("Steer_Torque_Sensor", "Steering_Torque", 0),
|
||||
("Steering_Angle", "Steering_Torque", 0),
|
||||
("Cruise_On", "CruiseControl", 0),
|
||||
("Cruise_Activated", "CruiseControl", 0),
|
||||
("Brake_Pedal", "Brake_Pedal", 0),
|
||||
("Throttle_Pedal", "Throttle", 0),
|
||||
("LEFT_BLINKER", "Dashlights", 0),
|
||||
("RIGHT_BLINKER", "Dashlights", 0),
|
||||
("SEATBELT_FL", "Dashlights", 0),
|
||||
("FL", "Wheel_Speeds", 0),
|
||||
("FR", "Wheel_Speeds", 0),
|
||||
("RL", "Wheel_Speeds", 0),
|
||||
("RR", "Wheel_Speeds", 0),
|
||||
("DOOR_OPEN_FR", "BodyInfo", 1),
|
||||
("DOOR_OPEN_FL", "BodyInfo", 1),
|
||||
("DOOR_OPEN_RR", "BodyInfo", 1),
|
||||
("DOOR_OPEN_RL", "BodyInfo", 1),
|
||||
("Units", "Dash_State", 1),
|
||||
]
|
||||
|
||||
checks = [
|
||||
# sig_address, frequency
|
||||
("Dashlights", 10),
|
||||
("CruiseControl", 20),
|
||||
("Wheel_Speeds", 50),
|
||||
("Steering_Torque", 50),
|
||||
("BodyInfo", 10),
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
||||
|
||||
|
||||
def get_camera_can_parser(CP):
|
||||
signals = [
|
||||
("Cruise_Set_Speed", "ES_DashStatus", 0),
|
||||
|
||||
("Counter", "ES_Distance", 0),
|
||||
("Signal1", "ES_Distance", 0),
|
||||
("Signal2", "ES_Distance", 0),
|
||||
("Main", "ES_Distance", 0),
|
||||
("Signal3", "ES_Distance", 0),
|
||||
|
||||
("Checksum", "ES_LKAS_State", 0),
|
||||
("Counter", "ES_LKAS_State", 0),
|
||||
("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
|
||||
("Empty_Box", "ES_LKAS_State", 0),
|
||||
("Signal1", "ES_LKAS_State", 0),
|
||||
("LKAS_ACTIVE", "ES_LKAS_State", 0),
|
||||
("Signal2", "ES_LKAS_State", 0),
|
||||
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
|
||||
("LKAS_ENABLE_3", "ES_LKAS_State", 0),
|
||||
("Signal3", "ES_LKAS_State", 0),
|
||||
("LKAS_ENABLE_2", "ES_LKAS_State", 0),
|
||||
("Signal4", "ES_LKAS_State", 0),
|
||||
("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
|
||||
("Signal6", "ES_LKAS_State", 0),
|
||||
("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
|
||||
("Signal7", "ES_LKAS_State", 0),
|
||||
("FCW_Cont_Beep", "ES_LKAS_State", 0),
|
||||
("FCW_Repeated_Beep", "ES_LKAS_State", 0),
|
||||
("Throttle_Management_Activated", "ES_LKAS_State", 0),
|
||||
("Traffic_light_Ahead", "ES_LKAS_State", 0),
|
||||
("Right_Depart", "ES_LKAS_State", 0),
|
||||
("Signal5", "ES_LKAS_State", 0),
|
||||
|
||||
]
|
||||
|
||||
checks = [
|
||||
("ES_DashStatus", 10),
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def __init__(self, CP):
|
||||
@@ -133,3 +56,81 @@ class CarState(CarStateBase):
|
||||
self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def get_can_parser(CP):
|
||||
# this function generates lists for signal, messages and initial values
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("Steer_Torque_Sensor", "Steering_Torque", 0),
|
||||
("Steering_Angle", "Steering_Torque", 0),
|
||||
("Cruise_On", "CruiseControl", 0),
|
||||
("Cruise_Activated", "CruiseControl", 0),
|
||||
("Brake_Pedal", "Brake_Pedal", 0),
|
||||
("Throttle_Pedal", "Throttle", 0),
|
||||
("LEFT_BLINKER", "Dashlights", 0),
|
||||
("RIGHT_BLINKER", "Dashlights", 0),
|
||||
("SEATBELT_FL", "Dashlights", 0),
|
||||
("FL", "Wheel_Speeds", 0),
|
||||
("FR", "Wheel_Speeds", 0),
|
||||
("RL", "Wheel_Speeds", 0),
|
||||
("RR", "Wheel_Speeds", 0),
|
||||
("DOOR_OPEN_FR", "BodyInfo", 1),
|
||||
("DOOR_OPEN_FL", "BodyInfo", 1),
|
||||
("DOOR_OPEN_RR", "BodyInfo", 1),
|
||||
("DOOR_OPEN_RL", "BodyInfo", 1),
|
||||
("Units", "Dash_State", 1),
|
||||
]
|
||||
|
||||
checks = [
|
||||
# sig_address, frequency
|
||||
("Dashlights", 10),
|
||||
("CruiseControl", 20),
|
||||
("Wheel_Speeds", 50),
|
||||
("Steering_Torque", 50),
|
||||
("BodyInfo", 10),
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
signals = [
|
||||
("Cruise_Set_Speed", "ES_DashStatus", 0),
|
||||
|
||||
("Counter", "ES_Distance", 0),
|
||||
("Signal1", "ES_Distance", 0),
|
||||
("Signal2", "ES_Distance", 0),
|
||||
("Main", "ES_Distance", 0),
|
||||
("Signal3", "ES_Distance", 0),
|
||||
|
||||
("Checksum", "ES_LKAS_State", 0),
|
||||
("Counter", "ES_LKAS_State", 0),
|
||||
("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
|
||||
("Empty_Box", "ES_LKAS_State", 0),
|
||||
("Signal1", "ES_LKAS_State", 0),
|
||||
("LKAS_ACTIVE", "ES_LKAS_State", 0),
|
||||
("Signal2", "ES_LKAS_State", 0),
|
||||
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
|
||||
("LKAS_ENABLE_3", "ES_LKAS_State", 0),
|
||||
("Signal3", "ES_LKAS_State", 0),
|
||||
("LKAS_ENABLE_2", "ES_LKAS_State", 0),
|
||||
("Signal4", "ES_LKAS_State", 0),
|
||||
("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
|
||||
("Signal6", "ES_LKAS_State", 0),
|
||||
("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
|
||||
("Signal7", "ES_LKAS_State", 0),
|
||||
("FCW_Cont_Beep", "ES_LKAS_State", 0),
|
||||
("FCW_Repeated_Beep", "ES_LKAS_State", 0),
|
||||
("Throttle_Management_Activated", "ES_LKAS_State", 0),
|
||||
("Traffic_light_Ahead", "ES_LKAS_State", 0),
|
||||
("Right_Depart", "ES_LKAS_State", 0),
|
||||
("Signal5", "ES_LKAS_State", 0),
|
||||
|
||||
]
|
||||
|
||||
checks = [
|
||||
("ES_DashStatus", 10),
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
|
||||
|
||||
@@ -3,17 +3,14 @@ from cereal import car
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
|
||||
from selfdrive.car.subaru.values import CAR
|
||||
from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser, get_camera_can_parser
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
def __init__(self, CP, CarController):
|
||||
super().__init__(CP, CarController, CarState, get_powertrain_can_parser, get_cam_can_parser=get_camera_can_parser)
|
||||
self.CP = CP
|
||||
|
||||
def __init__(self, CP, CarController, CarState):
|
||||
super().__init__(CP, CarController, CarState)
|
||||
self.enabled_prev = 0
|
||||
|
||||
@staticmethod
|
||||
|
||||
@@ -7,82 +7,6 @@ from selfdrive.config import Conversions as CV
|
||||
from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_DSU_CAR, NO_STOP_TIMER_CAR
|
||||
|
||||
|
||||
def get_can_parser(CP):
|
||||
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
|
||||
("GEAR", "GEAR_PACKET", 0),
|
||||
("BRAKE_PRESSED", "BRAKE_MODULE", 0),
|
||||
("GAS_PEDAL", "GAS_PEDAL", 0),
|
||||
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
|
||||
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
|
||||
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
|
||||
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
|
||||
("DOOR_OPEN_FL", "SEATS_DOORS", 1),
|
||||
("DOOR_OPEN_FR", "SEATS_DOORS", 1),
|
||||
("DOOR_OPEN_RL", "SEATS_DOORS", 1),
|
||||
("DOOR_OPEN_RR", "SEATS_DOORS", 1),
|
||||
("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
|
||||
("TC_DISABLED", "ESP_CONTROL", 1),
|
||||
("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
|
||||
("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
|
||||
("CRUISE_ACTIVE", "PCM_CRUISE", 0),
|
||||
("CRUISE_STATE", "PCM_CRUISE", 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 = [
|
||||
("BRAKE_MODULE", 40),
|
||||
("GAS_PEDAL", 33),
|
||||
("WHEEL_SPEEDS", 80),
|
||||
("STEER_ANGLE_SENSOR", 80),
|
||||
("PCM_CRUISE", 33),
|
||||
("STEER_TORQUE_SENSOR", 50),
|
||||
("EPS_STATUS", 25),
|
||||
]
|
||||
|
||||
if CP.carFingerprint == CAR.LEXUS_IS:
|
||||
signals.append(("MAIN_ON", "DSU_CRUISE", 0))
|
||||
signals.append(("SET_SPEED", "DSU_CRUISE", 0))
|
||||
checks.append(("DSU_CRUISE", 5))
|
||||
else:
|
||||
signals.append(("MAIN_ON", "PCM_CRUISE_2", 0))
|
||||
signals.append(("SET_SPEED", "PCM_CRUISE_2", 0))
|
||||
signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
|
||||
checks.append(("PCM_CRUISE_2", 33))
|
||||
|
||||
if CP.carFingerprint in NO_DSU_CAR:
|
||||
signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
|
||||
|
||||
if CP.carFingerprint == CAR.PRIUS:
|
||||
signals += [("STATE", "AUTOPARK_STATUS", 0)]
|
||||
|
||||
# add gas interceptor reading if we are using it
|
||||
if CP.enableGasInterceptor:
|
||||
signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
|
||||
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
|
||||
checks.append(("GAS_SENSOR", 50))
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
||||
|
||||
|
||||
def get_cam_can_parser(CP):
|
||||
|
||||
signals = [("FORCE", "PRE_COLLISION", 0), ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)]
|
||||
|
||||
# use steering message to check if panda is connected to frc
|
||||
checks = [("STEERING_LKA", 42)]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
@@ -169,3 +93,79 @@ class CarState(CarStateBase):
|
||||
self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def get_can_parser(CP):
|
||||
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
|
||||
("GEAR", "GEAR_PACKET", 0),
|
||||
("BRAKE_PRESSED", "BRAKE_MODULE", 0),
|
||||
("GAS_PEDAL", "GAS_PEDAL", 0),
|
||||
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
|
||||
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
|
||||
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
|
||||
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
|
||||
("DOOR_OPEN_FL", "SEATS_DOORS", 1),
|
||||
("DOOR_OPEN_FR", "SEATS_DOORS", 1),
|
||||
("DOOR_OPEN_RL", "SEATS_DOORS", 1),
|
||||
("DOOR_OPEN_RR", "SEATS_DOORS", 1),
|
||||
("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
|
||||
("TC_DISABLED", "ESP_CONTROL", 1),
|
||||
("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
|
||||
("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
|
||||
("CRUISE_ACTIVE", "PCM_CRUISE", 0),
|
||||
("CRUISE_STATE", "PCM_CRUISE", 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 = [
|
||||
("BRAKE_MODULE", 40),
|
||||
("GAS_PEDAL", 33),
|
||||
("WHEEL_SPEEDS", 80),
|
||||
("STEER_ANGLE_SENSOR", 80),
|
||||
("PCM_CRUISE", 33),
|
||||
("STEER_TORQUE_SENSOR", 50),
|
||||
("EPS_STATUS", 25),
|
||||
]
|
||||
|
||||
if CP.carFingerprint == CAR.LEXUS_IS:
|
||||
signals.append(("MAIN_ON", "DSU_CRUISE", 0))
|
||||
signals.append(("SET_SPEED", "DSU_CRUISE", 0))
|
||||
checks.append(("DSU_CRUISE", 5))
|
||||
else:
|
||||
signals.append(("MAIN_ON", "PCM_CRUISE_2", 0))
|
||||
signals.append(("SET_SPEED", "PCM_CRUISE_2", 0))
|
||||
signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
|
||||
checks.append(("PCM_CRUISE_2", 33))
|
||||
|
||||
if CP.carFingerprint in NO_DSU_CAR:
|
||||
signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
|
||||
|
||||
if CP.carFingerprint == CAR.PRIUS:
|
||||
signals += [("STATE", "AUTOPARK_STATUS", 0)]
|
||||
|
||||
# add gas interceptor reading if we are using it
|
||||
if CP.enableGasInterceptor:
|
||||
signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
|
||||
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
|
||||
checks.append(("GAS_SENSOR", 50))
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
|
||||
signals = [("FORCE", "PRE_COLLISION", 0), ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)]
|
||||
|
||||
# use steering message to check if panda is connected to frc
|
||||
checks = [("STEERING_LKA", 42)]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
|
||||
|
||||
@@ -2,7 +2,6 @@
|
||||
from cereal import car
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
|
||||
from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
|
||||
from selfdrive.car.toyota.values import Ecu, ECU_FINGERPRINT, CAR, TSS2_CAR, FINGERPRINTS
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
|
||||
from selfdrive.swaglog import cloudlog
|
||||
@@ -12,8 +11,6 @@ ButtonType = car.CarState.ButtonEvent.Type
|
||||
GearShifter = car.CarState.GearShifter
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
def __init__(self, CP, CarController):
|
||||
super().__init__(CP, CarController, CarState, get_can_parser, get_cam_can_parser=get_cam_can_parser)
|
||||
|
||||
@staticmethod
|
||||
def compute_gb(accel, speed):
|
||||
|
||||
@@ -6,98 +6,6 @@ from opendbc.can.parser import CANParser
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from selfdrive.car.volkswagen.values import DBC, CANBUS, BUTTON_STATES, CarControllerParams
|
||||
|
||||
def get_mqb_pt_can_parser(CP):
|
||||
# this function generates lists for signal, messages and initial values
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("LWI_Lenkradwinkel", "LWI_01", 0), # Absolute steering angle
|
||||
("LWI_VZ_Lenkradwinkel", "LWI_01", 0), # Steering angle sign
|
||||
("LWI_Lenkradw_Geschw", "LWI_01", 0), # Absolute steering rate
|
||||
("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0), # Steering rate sign
|
||||
("ESP_VL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front left
|
||||
("ESP_VR_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front right
|
||||
("ESP_HL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear left
|
||||
("ESP_HR_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear right
|
||||
("ESP_Gierrate", "ESP_02", 0), # Absolute yaw rate
|
||||
("ESP_VZ_Gierrate", "ESP_02", 0), # Yaw rate sign
|
||||
("ZV_FT_offen", "Gateway_72", 0), # Door open, driver
|
||||
("ZV_BT_offen", "Gateway_72", 0), # Door open, passenger
|
||||
("ZV_HFS_offen", "Gateway_72", 0), # Door open, rear left
|
||||
("ZV_HBFS_offen", "Gateway_72", 0), # Door open, rear right
|
||||
("ZV_HD_offen", "Gateway_72", 0), # Trunk or hatch open
|
||||
("BH_Blinker_li", "Gateway_72", 0), # Left turn signal on
|
||||
("BH_Blinker_re", "Gateway_72", 0), # Right turn signal on
|
||||
("GE_Fahrstufe", "Getriebe_11", 0), # Auto trans gear selector position
|
||||
("AB_Gurtschloss_FA", "Airbag_02", 0), # Seatbelt status, driver
|
||||
("AB_Gurtschloss_BF", "Airbag_02", 0), # Seatbelt status, passenger
|
||||
("ESP_Fahrer_bremst", "ESP_05", 0), # Brake pedal pressed
|
||||
("ESP_Status_Bremsdruck", "ESP_05", 0), # Brakes applied
|
||||
("ESP_Bremsdruck", "ESP_05", 0), # Brake pressure applied
|
||||
("MO_Fahrpedalrohwert_01", "Motor_20", 0), # Accelerator pedal value
|
||||
("MO_Kuppl_schalter", "Motor_14", 0), # Clutch switch
|
||||
("Driver_Strain", "EPS_01", 0), # Absolute driver torque input
|
||||
("Driver_Strain_VZ", "EPS_01", 0), # Driver torque input sign
|
||||
("HCA_Ready", "EPS_01", 0), # Steering rack HCA support configured
|
||||
("ESP_Tastung_passiv", "ESP_21", 0), # Stability control disabled
|
||||
("KBI_MFA_v_Einheit_02", "Einheiten_01", 0), # MPH vs KMH speed display
|
||||
("KBI_Handbremse", "Kombi_01", 0), # Manual handbrake applied
|
||||
("TSK_Fahrzeugmasse_02", "Motor_16", 0), # Estimated vehicle mass from drivetrain coordinator
|
||||
("ACC_Status_ACC", "ACC_06", 0), # ACC engagement status
|
||||
("ACC_Typ", "ACC_06", 0), # ACC type (follow to stop, stop&go)
|
||||
("SetSpeed", "ACC_02", 0), # ACC set speed
|
||||
("GRA_Hauptschalter", "GRA_ACC_01", 0), # ACC button, on/off
|
||||
("GRA_Abbrechen", "GRA_ACC_01", 0), # ACC button, cancel
|
||||
("GRA_Tip_Setzen", "GRA_ACC_01", 0), # ACC button, set
|
||||
("GRA_Tip_Hoch", "GRA_ACC_01", 0), # ACC button, increase or accel
|
||||
("GRA_Tip_Runter", "GRA_ACC_01", 0), # ACC button, decrease or decel
|
||||
("GRA_Tip_Wiederaufnahme", "GRA_ACC_01", 0), # ACC button, resume
|
||||
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01", 0), # ACC button, time gap adj
|
||||
("GRA_Typ_Hauptschalter", "GRA_ACC_01", 0), # ACC main button type
|
||||
("GRA_Tip_Stufe_2", "GRA_ACC_01", 0), # unknown related to stalk type
|
||||
("GRA_ButtonTypeInfo", "GRA_ACC_01", 0), # unknown related to stalk type
|
||||
("COUNTER", "GRA_ACC_01", 0), # GRA_ACC_01 CAN message counter
|
||||
]
|
||||
|
||||
checks = [
|
||||
# sig_address, frequency
|
||||
("LWI_01", 100), # From J500 Steering Assist with integrated sensors
|
||||
("EPS_01", 100), # From J500 Steering Assist with integrated sensors
|
||||
("ESP_19", 100), # From J104 ABS/ESP controller
|
||||
("ESP_05", 50), # From J104 ABS/ESP controller
|
||||
("ESP_21", 50), # From J104 ABS/ESP controller
|
||||
("ACC_06", 50), # From J428 ACC radar control module
|
||||
("Motor_20", 50), # From J623 Engine control module
|
||||
("GRA_ACC_01", 33), # From J??? steering wheel control buttons
|
||||
("ACC_02", 17), # From J428 ACC radar control module
|
||||
("Getriebe_11", 20), # From J743 Auto transmission control module
|
||||
("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
|
||||
("Motor_14", 10), # From J623 Engine control module
|
||||
("Airbag_02", 5), # From J234 Airbag control module
|
||||
("Kombi_01", 2), # From J285 Instrument cluster
|
||||
("Motor_16", 2), # From J623 Engine control module
|
||||
("Einheiten_01", 1), # From J??? not known if gateway, cluster, or BCM
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.pt)
|
||||
|
||||
# A single signal is monitored from the camera CAN bus, and then ignored,
|
||||
# so the presence of CAN traffic can be verified with cam_cp.valid.
|
||||
|
||||
def get_mqb_cam_can_parser(CP):
|
||||
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("Kombi_Lamp_Green", "LDW_02", 0), # Lane Assist status LED
|
||||
]
|
||||
|
||||
checks = [
|
||||
# sig_address, frequency
|
||||
("LDW_02", 10) # From R242 Driver assistance camera
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.cam)
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
@@ -211,3 +119,96 @@ class CarState(CarStateBase):
|
||||
self.stabilityControlDisabled = pt_cp.vl["ESP_21"]['ESP_Tastung_passiv']
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def get_can_parser(CP):
|
||||
# this function generates lists for signal, messages and initial values
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("LWI_Lenkradwinkel", "LWI_01", 0), # Absolute steering angle
|
||||
("LWI_VZ_Lenkradwinkel", "LWI_01", 0), # Steering angle sign
|
||||
("LWI_Lenkradw_Geschw", "LWI_01", 0), # Absolute steering rate
|
||||
("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0), # Steering rate sign
|
||||
("ESP_VL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front left
|
||||
("ESP_VR_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front right
|
||||
("ESP_HL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear left
|
||||
("ESP_HR_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear right
|
||||
("ESP_Gierrate", "ESP_02", 0), # Absolute yaw rate
|
||||
("ESP_VZ_Gierrate", "ESP_02", 0), # Yaw rate sign
|
||||
("ZV_FT_offen", "Gateway_72", 0), # Door open, driver
|
||||
("ZV_BT_offen", "Gateway_72", 0), # Door open, passenger
|
||||
("ZV_HFS_offen", "Gateway_72", 0), # Door open, rear left
|
||||
("ZV_HBFS_offen", "Gateway_72", 0), # Door open, rear right
|
||||
("ZV_HD_offen", "Gateway_72", 0), # Trunk or hatch open
|
||||
("BH_Blinker_li", "Gateway_72", 0), # Left turn signal on
|
||||
("BH_Blinker_re", "Gateway_72", 0), # Right turn signal on
|
||||
("GE_Fahrstufe", "Getriebe_11", 0), # Auto trans gear selector position
|
||||
("AB_Gurtschloss_FA", "Airbag_02", 0), # Seatbelt status, driver
|
||||
("AB_Gurtschloss_BF", "Airbag_02", 0), # Seatbelt status, passenger
|
||||
("ESP_Fahrer_bremst", "ESP_05", 0), # Brake pedal pressed
|
||||
("ESP_Status_Bremsdruck", "ESP_05", 0), # Brakes applied
|
||||
("ESP_Bremsdruck", "ESP_05", 0), # Brake pressure applied
|
||||
("MO_Fahrpedalrohwert_01", "Motor_20", 0), # Accelerator pedal value
|
||||
("MO_Kuppl_schalter", "Motor_14", 0), # Clutch switch
|
||||
("Driver_Strain", "EPS_01", 0), # Absolute driver torque input
|
||||
("Driver_Strain_VZ", "EPS_01", 0), # Driver torque input sign
|
||||
("HCA_Ready", "EPS_01", 0), # Steering rack HCA support configured
|
||||
("ESP_Tastung_passiv", "ESP_21", 0), # Stability control disabled
|
||||
("KBI_MFA_v_Einheit_02", "Einheiten_01", 0), # MPH vs KMH speed display
|
||||
("KBI_Handbremse", "Kombi_01", 0), # Manual handbrake applied
|
||||
("TSK_Fahrzeugmasse_02", "Motor_16", 0), # Estimated vehicle mass from drivetrain coordinator
|
||||
("ACC_Status_ACC", "ACC_06", 0), # ACC engagement status
|
||||
("ACC_Typ", "ACC_06", 0), # ACC type (follow to stop, stop&go)
|
||||
("SetSpeed", "ACC_02", 0), # ACC set speed
|
||||
("GRA_Hauptschalter", "GRA_ACC_01", 0), # ACC button, on/off
|
||||
("GRA_Abbrechen", "GRA_ACC_01", 0), # ACC button, cancel
|
||||
("GRA_Tip_Setzen", "GRA_ACC_01", 0), # ACC button, set
|
||||
("GRA_Tip_Hoch", "GRA_ACC_01", 0), # ACC button, increase or accel
|
||||
("GRA_Tip_Runter", "GRA_ACC_01", 0), # ACC button, decrease or decel
|
||||
("GRA_Tip_Wiederaufnahme", "GRA_ACC_01", 0), # ACC button, resume
|
||||
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01", 0), # ACC button, time gap adj
|
||||
("GRA_Typ_Hauptschalter", "GRA_ACC_01", 0), # ACC main button type
|
||||
("GRA_Tip_Stufe_2", "GRA_ACC_01", 0), # unknown related to stalk type
|
||||
("GRA_ButtonTypeInfo", "GRA_ACC_01", 0), # unknown related to stalk type
|
||||
("COUNTER", "GRA_ACC_01", 0), # GRA_ACC_01 CAN message counter
|
||||
]
|
||||
|
||||
checks = [
|
||||
# sig_address, frequency
|
||||
("LWI_01", 100), # From J500 Steering Assist with integrated sensors
|
||||
("EPS_01", 100), # From J500 Steering Assist with integrated sensors
|
||||
("ESP_19", 100), # From J104 ABS/ESP controller
|
||||
("ESP_05", 50), # From J104 ABS/ESP controller
|
||||
("ESP_21", 50), # From J104 ABS/ESP controller
|
||||
("ACC_06", 50), # From J428 ACC radar control module
|
||||
("Motor_20", 50), # From J623 Engine control module
|
||||
("GRA_ACC_01", 33), # From J??? steering wheel control buttons
|
||||
("ACC_02", 17), # From J428 ACC radar control module
|
||||
("Getriebe_11", 20), # From J743 Auto transmission control module
|
||||
("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
|
||||
("Motor_14", 10), # From J623 Engine control module
|
||||
("Airbag_02", 5), # From J234 Airbag control module
|
||||
("Kombi_01", 2), # From J285 Instrument cluster
|
||||
("Motor_16", 2), # From J623 Engine control module
|
||||
("Einheiten_01", 1), # From J??? not known if gateway, cluster, or BCM
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.pt)
|
||||
|
||||
# A single signal is monitored from the camera CAN bus, and then ignored,
|
||||
# so the presence of CAN traffic can be verified with cam_cp.valid.
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("Kombi_Lamp_Green", "LDW_02", 0), # Lane Assist status LED
|
||||
]
|
||||
|
||||
checks = [
|
||||
# sig_address, frequency
|
||||
("LDW_02", 10) # From R242 Driver assistance camera
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.cam)
|
||||
|
||||
@@ -2,7 +2,6 @@ from cereal import car
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
|
||||
from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
|
||||
from selfdrive.car.volkswagen.carstate import CarState, get_mqb_pt_can_parser, get_mqb_cam_can_parser
|
||||
from common.params import Params
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
@@ -10,8 +9,8 @@ from selfdrive.car.interfaces import CarInterfaceBase
|
||||
GEAR = car.CarState.GearShifter
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
def __init__(self, CP, CarController):
|
||||
super().__init__(CP, CarController, CarState, get_mqb_pt_can_parser, get_mqb_cam_can_parser)
|
||||
def __init__(self, CP, CarController, CarState):
|
||||
super().__init__(CP, CarController, CarState)
|
||||
|
||||
self.displayMetricUnitsPrev = None
|
||||
self.buttonStatesPrev = BUTTON_STATES.copy()
|
||||
|
||||
Reference in New Issue
Block a user