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carstate.py
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import copy
from cereal import car
from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR
from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from selfdrive.config import Conversions as CV
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
else: # preferred and elect gear methods use same definition
self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])
ret.seatbeltUnlatched = cp.vl["CGW1"]["CF_Gway_DrvSeatBeltSw"] == 0
ret.wheelSpeeds = self.get_wheel_speeds(
cp.vl["WHL_SPD11"]["WHL_SPD_FL"],
cp.vl["WHL_SPD11"]["WHL_SPD_FR"],
cp.vl["WHL_SPD11"]["WHL_SPD_RL"],
cp.vl["WHL_SPD11"]["WHL_SPD_RR"],
)
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.1
ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"]
ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"]
ret.yawRate = cp.vl["ESP12"]["YAW_RATE"]
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(
50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
# cruise state
if self.CP.openpilotLongitudinalControl:
# These are not used for engage/disengage since openpilot keeps track of state using the buttons
ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
ret.cruiseState.standstill = False
else:
ret.cruiseState.available = cp.vl["SCC11"]["MainMode_ACC"] == 1
ret.cruiseState.enabled = cp.vl["SCC12"]["ACCMode"] != 0
ret.cruiseState.standstill = cp.vl["SCC11"]["SCCInfoDisplay"] == 4.
if ret.cruiseState.enabled:
speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
ret.cruiseState.speed = cp.vl["SCC11"]["VSetDis"] * speed_conv
else:
ret.cruiseState.speed = 0
# TODO: Find brake pressure
ret.brake = 0
ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
if self.CP.carFingerprint in HYBRID_CAR:
ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254.
else:
ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254.
ret.gasPressed = ret.gas > 0
else:
ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100.
ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
# Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
# as this seems to be standard over all cars, but is not the preferred method.
if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
gear = cp.vl["CLU15"]["CF_Clu_Gear"]
elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
gear = cp.vl["TCU12"]["CUR_GR"]
elif self.CP.carFingerprint in FEATURES["use_elect_gears"]:
gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
else:
gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
if not self.CP.openpilotLongitudinalControl:
if self.CP.carFingerprint in FEATURES["use_fca"]:
ret.stockAeb = cp.vl["FCA11"]["FCA_CmdAct"] != 0
ret.stockFcw = cp.vl["FCA11"]["CF_VSM_Warn"] == 2
else:
ret.stockAeb = cp.vl["SCC12"]["AEB_CmdAct"] != 0
ret.stockFcw = cp.vl["SCC12"]["CF_VSM_Warn"] == 2
if self.CP.enableBsm:
ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
# save the entire LKAS11 and CLU11
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
self.clu11 = copy.copy(cp.vl["CLU11"])
self.park_brake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
self.prev_cruise_buttons = self.cruise_buttons
self.cruise_buttons = cp.vl["CLU11"]["CF_Clu_CruiseSwState"]
return ret
@staticmethod
def get_can_parser(CP):
signals = [
# sig_name, sig_address
("WHL_SPD_FL", "WHL_SPD11"),
("WHL_SPD_FR", "WHL_SPD11"),
("WHL_SPD_RL", "WHL_SPD11"),
("WHL_SPD_RR", "WHL_SPD11"),
("YAW_RATE", "ESP12"),
("CF_Gway_DrvSeatBeltInd", "CGW4"),
("CF_Gway_DrvSeatBeltSw", "CGW1"),
("CF_Gway_DrvDrSw", "CGW1"), # Driver Door
("CF_Gway_AstDrSw", "CGW1"), # Passenger door
("CF_Gway_RLDrSw", "CGW2"), # Rear reft door
("CF_Gway_RRDrSw", "CGW2"), # Rear right door
("CF_Gway_TurnSigLh", "CGW1"),
("CF_Gway_TurnSigRh", "CGW1"),
("CF_Gway_ParkBrakeSw", "CGW1"),
("CYL_PRES", "ESP12"),
("CF_Clu_CruiseSwState", "CLU11"),
("CF_Clu_CruiseSwMain", "CLU11"),
("CF_Clu_SldMainSW", "CLU11"),
("CF_Clu_ParityBit1", "CLU11"),
("CF_Clu_VanzDecimal" , "CLU11"),
("CF_Clu_Vanz", "CLU11"),
("CF_Clu_SPEED_UNIT", "CLU11"),
("CF_Clu_DetentOut", "CLU11"),
("CF_Clu_RheostatLevel", "CLU11"),
("CF_Clu_CluInfo", "CLU11"),
("CF_Clu_AmpInfo", "CLU11"),
("CF_Clu_AliveCnt1", "CLU11"),
("ACCEnable", "TCS13"),
("ACC_REQ", "TCS13"),
("DriverBraking", "TCS13"),
("StandStill", "TCS13"),
("PBRAKE_ACT", "TCS13"),
("ESC_Off_Step", "TCS15"),
("AVH_LAMP", "TCS15"),
("CR_Mdps_StrColTq", "MDPS12"),
("CF_Mdps_ToiActive", "MDPS12"),
("CF_Mdps_ToiUnavail", "MDPS12"),
("CF_Mdps_ToiFlt", "MDPS12"),
("CR_Mdps_OutTq", "MDPS12"),
("SAS_Angle", "SAS11"),
("SAS_Speed", "SAS11"),
]
checks = [
# address, frequency
("MDPS12", 50),
("TCS13", 50),
("TCS15", 10),
("CLU11", 50),
("ESP12", 100),
("CGW1", 10),
("CGW2", 5),
("CGW4", 5),
("WHL_SPD11", 50),
("SAS11", 100),
]
if not CP.openpilotLongitudinalControl:
signals += [
("MainMode_ACC", "SCC11"),
("VSetDis", "SCC11"),
("SCCInfoDisplay", "SCC11"),
("ACC_ObjDist", "SCC11"),
("ACCMode", "SCC12"),
]
checks += [
("SCC11", 50),
("SCC12", 50),
]
if CP.carFingerprint in FEATURES["use_fca"]:
signals += [
("FCA_CmdAct", "FCA11"),
("CF_VSM_Warn", "FCA11"),
]
checks.append(("FCA11", 50))
else:
signals += [
("AEB_CmdAct", "SCC12"),
("CF_VSM_Warn", "SCC12"),
]
if CP.enableBsm:
signals += [
("CF_Lca_IndLeft", "LCA11"),
("CF_Lca_IndRight", "LCA11"),
]
checks.append(("LCA11", 50))
if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
if CP.carFingerprint in HYBRID_CAR:
signals.append(("CR_Vcu_AccPedDep_Pos", "E_EMS11"))
else:
signals.append(("Accel_Pedal_Pos", "E_EMS11"))
checks.append(("E_EMS11", 50))
else:
signals += [
("PV_AV_CAN", "EMS12"),
("CF_Ems_AclAct", "EMS16"),
]
checks += [
("EMS12", 100),
("EMS16", 100),
]
if CP.carFingerprint in FEATURES["use_cluster_gears"]:
signals.append(("CF_Clu_Gear", "CLU15"))
checks.append(("CLU15", 5))
elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
signals.append(("CUR_GR", "TCU12"))
checks.append(("TCU12", 100))
elif CP.carFingerprint in FEATURES["use_elect_gears"]:
signals.append(("Elect_Gear_Shifter", "ELECT_GEAR"))
checks.append(("ELECT_GEAR", 20))
else:
signals.append(("CF_Lvr_Gear", "LVR12"))
checks.append(("LVR12", 100))
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
@staticmethod
def get_cam_can_parser(CP):
signals = [
# sig_name, sig_address
("CF_Lkas_LdwsActivemode", "LKAS11"),
("CF_Lkas_LdwsSysState", "LKAS11"),
("CF_Lkas_SysWarning", "LKAS11"),
("CF_Lkas_LdwsLHWarning", "LKAS11"),
("CF_Lkas_LdwsRHWarning", "LKAS11"),
("CF_Lkas_HbaLamp", "LKAS11"),
("CF_Lkas_FcwBasReq", "LKAS11"),
("CF_Lkas_HbaSysState", "LKAS11"),
("CF_Lkas_FcwOpt", "LKAS11"),
("CF_Lkas_HbaOpt", "LKAS11"),
("CF_Lkas_FcwSysState", "LKAS11"),
("CF_Lkas_FcwCollisionWarning", "LKAS11"),
("CF_Lkas_FusionState", "LKAS11"),
("CF_Lkas_FcwOpt_USM", "LKAS11"),
("CF_Lkas_LdwsOpt_USM", "LKAS11"),
]
checks = [
("LKAS11", 100)
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)