mirror of
https://github.com/infiniteCable2/opendbc.git
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5d399457c8
* fix * clearer * cleanup * more fix * hkg dbc * typo! * Add Custom MIT License (#26) * missed * better * more fixes * try this out * inherit in carcontroller properly * hyundai: main button handling * always disable * add main check for pcm cruise * revert * sunnyParams * Move car-specific changes to opendbc * no need * more fixes * more! * final? * static analysis * use new cereal * rename to lkas_button * rename * mads base for cars * add lkas for ford * enabled <-> active * MUST REMOVE test process replay * Revert "MUST REMOVE test process replay" This reverts commit 6dde2c8435b0e09158ab455aa215a573f5212c11. * subaru * ruff * more subaru * toyota * add them * mypy * fix * update name * FCA * assign directly * init directly * missing * not yet * missed * no longer needed * missed hd * fix * move to generator * more nissan * Apply suggestions from code review * no need * Revert "no need" This reverts commit 6156c62113d9abb626014947a9066b5580f6460a. * hyundai: move main logic out of main carstate * move around * move lkas and lfa icon logic to mads base * Parse more flags from alt exp, more tests, hyundai main cruise allowed * license * add code spell ignore * fix icon * remove toyota lta status for lkas, causes weird behaviors * parse signals inside mads methods * more codes in mads childs * Update opendbc/sunnypilot/car/hyundai/escc.py * revert * type hint * test type hint * more type hint * no * needs to be in carstate * in another PR --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
75 lines
1.9 KiB
Python
75 lines
1.9 KiB
Python
from opendbc.car import structs
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from opendbc.car.chrysler.values import RAM_CARS
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GearShifter = structs.CarState.GearShifter
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VisualAlert = structs.CarControl.HUDControl.VisualAlert
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def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam, mads):
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# LKAS_HUD - Controls what lane-keeping icon is displayed
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# == Color ==
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# 0 hidden?
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# 1 white
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# 2 green
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# 3 ldw
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# == Lines ==
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# 03 white Lines
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# 04 grey lines
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# 09 left lane close
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# 0A right lane close
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# 0B left Lane very close
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# 0C right Lane very close
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# 0D left cross cross
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# 0E right lane cross
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# == Alerts ==
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# 7 Normal
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# 6 lane departure place hands on wheel
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if mads.enable_mads:
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color = 2 if lkas_active else 1 if mads.paused else 0
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else:
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color = 2 if lkas_active else 1
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lines = 3 if lkas_active else 0
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alerts = 7 if lkas_active else 0
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if hud_count < (1 * 4): # first 3 seconds, 4Hz
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alerts = 1
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if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
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color = 4
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lines = 0
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alerts = 6
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values = {
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"LKAS_ICON_COLOR": color,
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"CAR_MODEL": car_model,
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"LKAS_LANE_LINES": lines,
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"LKAS_ALERTS": alerts,
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}
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if CP.carFingerprint in RAM_CARS:
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values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
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return packer.make_can_msg("DAS_6", 0, values)
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def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
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# LKAS_COMMAND Lane-keeping signal to turn the wheel
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enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
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values = {
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"STEERING_TORQUE": apply_steer,
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"LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
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}
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return packer.make_can_msg("LKAS_COMMAND", 0, values)
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def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
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values = {
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"ACC_Cancel": cancel,
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"ACC_Resume": resume,
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"COUNTER": frame % 0x10,
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}
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return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
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