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Mazda: car state cleanup + comments

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This commit is contained in:
Adeeb Shihadeh
2021-10-29 14:40:58 -07:00
parent 385f3c5387
commit f9b6b03f5d
1 changed files with 6 additions and 4 deletions
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selfdrive/car/mazda/carstate.py
+6 -4
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@@ -12,7 +12,6 @@ class CarState(CarStateBase):
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.shifter_values = can_define.dv["GEAR"]["GEAR"]
self.cruise_speed = 0
self.acc_active_last = False
self.low_speed_alert = False
self.lkas_allowed = False
@@ -34,6 +33,8 @@ class CarState(CarStateBase):
can_gear = int(cp.vl["GEAR"]["GEAR"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS1"] == 1
ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS1"] == 1
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(40, cp.vl["BLINK_INFO"]["LEFT_BLINK"] == 1,
cp.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1)
@@ -44,6 +45,7 @@ class CarState(CarStateBase):
ret.steeringTorqueEps = cp.vl["STEER_TORQUE"]["STEER_TORQUE_MOTOR"]
ret.steeringRateDeg = cp.vl["STEER_RATE"]["STEER_ANGLE_RATE"]
# TODO: this should be from 0 - 1.
ret.brakePressed = cp.vl["PEDALS"]["BRAKE_ON"] == 1
ret.brake = cp.vl["BRAKE"]["BRAKE_PRESSURE"]
@@ -51,18 +53,18 @@ class CarState(CarStateBase):
ret.doorOpen = any([cp.vl["DOORS"]["FL"], cp.vl["DOORS"]["FR"],
cp.vl["DOORS"]["BL"], cp.vl["DOORS"]["BR"]])
# TODO: this should be from 0 - 1.
ret.gas = cp.vl["ENGINE_DATA"]["PEDAL_GAS"]
ret.gasPressed = ret.gas > 0
ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS1"] == 1
ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS1"] == 1
# LKAS is enabled at 52kph going up and disabled at 45kph going down
if speed_kph > LKAS_LIMITS.ENABLE_SPEED:
self.lkas_allowed = True
elif speed_kph < LKAS_LIMITS.DISABLE_SPEED:
self.lkas_allowed = False
# TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on
# it should be used for carState.cruiseState.nonAdaptive instead
ret.cruiseState.available = cp.vl["CRZ_CTRL"]["CRZ_AVAILABLE"] == 1
ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]["CRZ_ACTIVE"] == 1
ret.cruiseState.speed = cp.vl["CRZ_EVENTS"]["CRZ_SPEED"] * CV.KPH_TO_MS