import copy
from cereal import car
from opendbc.can.can_define import CANDefine
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags
from openpilot.selfdrive.car import CanSignalRateCalculator
[docs]
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.shifter_values = can_define.dv["Transmission"]["Gear"]
self.angle_rate_calulator = CanSignalRateCalculator(50)
[docs]
def update(self, cp, cp_cam, cp_body):
ret = car.CarState.new_message()
throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_body.vl["Throttle_Hybrid"]
ret.gas = throttle_msg["Throttle_Pedal"] / 255.
ret.gasPressed = ret.gas > 1e-5
if self.CP.flags & SubaruFlags.PREGLOBAL:
ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 0
else:
cp_brakes = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1
cp_es_distance = cp_body if self.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID) else cp_cam
if not (self.CP.flags & SubaruFlags.HYBRID):
eyesight_fault = bool(cp_es_distance.vl["ES_Distance"]["Cruise_Fault"])
# if openpilot is controlling long, an eyesight fault is a non-critical fault. otherwise it's an ACC fault
if self.CP.openpilotLongitudinalControl:
ret.carFaultedNonCritical = eyesight_fault
else:
ret.accFaulted = eyesight_fault
cp_wheels = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
ret.wheelSpeeds = self.get_wheel_speeds(
cp_wheels.vl["Wheel_Speeds"]["FL"],
cp_wheels.vl["Wheel_Speeds"]["FR"],
cp_wheels.vl["Wheel_Speeds"]["RL"],
cp_wheels.vl["Wheel_Speeds"]["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
# continuous blinker signals for assisted lane change
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"],
cp.vl["Dashlights"]["RIGHT_BLINKER"])
if self.CP.enableBsm:
ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
ret.rightBlindspot = (cp.vl["BSD_RCTA"]["R_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["R_APPROACHING"] == 1)
cp_transmission = cp_body if self.CP.flags & SubaruFlags.HYBRID else cp
can_gear = int(cp_transmission.vl["Transmission"]["Gear"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
if not (self.CP.flags & SubaruFlags.PREGLOBAL):
# ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, cp.vl["Steering_Torque"]["COUNTER"])
ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
steer_threshold = 75 if self.CP.flags & SubaruFlags.PREGLOBAL else 80
ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
cp_cruise = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
if self.CP.flags & SubaruFlags.HYBRID:
ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0
ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
else:
ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
if (self.CP.flags & SubaruFlags.PREGLOBAL and cp.vl["Dash_State2"]["UNITS"] == 1) or \
(not (self.CP.flags & SubaruFlags.PREGLOBAL) and cp.vl["Dashlights"]["UNITS"] == 1):
ret.cruiseState.speed *= CV.MPH_TO_KPH
ret.seatbeltUnlatched = cp.vl["Dashlights"]["SEATBELT_FL"] == 1
ret.doorOpen = any([cp.vl["BodyInfo"]["DOOR_OPEN_RR"],
cp.vl["BodyInfo"]["DOOR_OPEN_RL"],
cp.vl["BodyInfo"]["DOOR_OPEN_FR"],
cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
if self.CP.flags & SubaruFlags.PREGLOBAL:
self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
else:
ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \
(cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2)
self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
cp_es_brake = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"])
cp_es_status = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
# TODO: Hybrid cars don't have ES_Distance, need a replacement
if not (self.CP.flags & SubaruFlags.HYBRID):
# 8 is known AEB, there are a few other values related to AEB we ignore
ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \
(cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"])
self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"])
if not (self.CP.flags & SubaruFlags.HYBRID):
self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
return ret
[docs]
@staticmethod
def get_common_global_body_messages(CP):
messages = [
("Wheel_Speeds", 50),
("Brake_Status", 50),
]
if not (CP.flags & SubaruFlags.HYBRID):
messages.append(("CruiseControl", 20))
return messages
[docs]
@staticmethod
def get_common_global_es_messages(CP):
messages = [
("ES_Brake", 20),
]
if not (CP.flags & SubaruFlags.HYBRID):
messages += [
("ES_Distance", 20),
("ES_Status", 20)
]
return messages
[docs]
@staticmethod
def get_common_preglobal_body_messages():
messages = [
("CruiseControl", 50),
("Wheel_Speeds", 50),
("Dash_State2", 1),
]
return messages
[docs]
@staticmethod
def get_can_parser(CP):
messages = [
# sig_address, frequency
("Dashlights", 10),
("Steering_Torque", 50),
("BodyInfo", 1),
("Brake_Pedal", 50),
]
if not (CP.flags & SubaruFlags.HYBRID):
messages += [
("Throttle", 100),
("Transmission", 100)
]
if CP.enableBsm:
messages.append(("BSD_RCTA", 17))
if not (CP.flags & SubaruFlags.PREGLOBAL):
if not (CP.flags & SubaruFlags.GLOBAL_GEN2):
messages += CarState.get_common_global_body_messages(CP)
else:
messages += CarState.get_common_preglobal_body_messages()
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.main)
[docs]
@staticmethod
def get_cam_can_parser(CP):
if CP.flags & SubaruFlags.PREGLOBAL:
messages = [
("ES_DashStatus", 20),
("ES_Distance", 20),
]
else:
messages = [
("ES_DashStatus", 10),
("ES_LKAS_State", 10),
]
if not (CP.flags & SubaruFlags.GLOBAL_GEN2):
messages += CarState.get_common_global_es_messages(CP)
if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
messages.append(("ES_Infotainment", 10))
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.camera)
[docs]
@staticmethod
def get_body_can_parser(CP):
messages = []
if CP.flags & SubaruFlags.GLOBAL_GEN2:
messages += CarState.get_common_global_body_messages(CP)
messages += CarState.get_common_global_es_messages(CP)
if CP.flags & SubaruFlags.HYBRID:
messages += [
("Throttle_Hybrid", 40),
("Transmission", 100)
]
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt)