import copy
from collections import deque
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
from openpilot.selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
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class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
self.button_states = {button.event_type: False for button in BUTTONS}
self.can_define = CANDefine(DBC[CP.carFingerprint]['chassis'])
# Needed by carcontroller
self.msg_stw_actn_req = None
self.hands_on_level = 0
self.steer_warning = None
self.acc_state = 0
self.das_control_counters = deque(maxlen=32)
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def update(self, cp, cp_cam):
ret = car.CarState.new_message()
# Vehicle speed
ret.vEgoRaw = cp.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = (ret.vEgo < 0.1)
# Gas pedal
ret.gas = cp.vl["DI_torque1"]["DI_pedalPos"] / 100.0
ret.gasPressed = (ret.gas > 0)
# Brake pedal
ret.brake = 0
ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1)
# Steering wheel
epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN else cp.vl["EPAS_sysStatus"]
self.hands_on_level = epas_status["EPAS_handsOnLevel"]
self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None)
steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(epas_status["EPAS_eacStatus"]), None)
ret.steeringAngleDeg = -epas_status["EPAS_internalSAS"]
ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate
ret.steeringTorque = -epas_status["EPAS_torsionBarTorque"]
ret.steeringPressed = (self.hands_on_level > 0)
ret.steerFaultPermanent = steer_status == "EAC_FAULT"
ret.steerFaultTemporary = (self.steer_warning not in ("EAC_ERROR_IDLE", "EAC_ERROR_HANDS_ON"))
# Cruise state
cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp.vl["DI_state"]["DI_cruiseState"]), None)
speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp.vl["DI_state"]["DI_speedUnits"]), None)
acc_enabled = (cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL"))
ret.cruiseState.enabled = acc_enabled
if speed_units == "KPH":
ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.KPH_TO_MS
elif speed_units == "MPH":
ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.MPH_TO_MS
ret.cruiseState.available = ((cruise_state == "STANDBY") or ret.cruiseState.enabled)
ret.cruiseState.standstill = False # This needs to be false, since we can resume from stop without sending anything special
# Gear
ret.gearShifter = GEAR_MAP[self.can_define.dv["DI_torque2"]["DI_gear"].get(int(cp.vl["DI_torque2"]["DI_gear"]), "DI_GEAR_INVALID")]
# Buttons
buttonEvents = []
for button in BUTTONS:
state = (cp.vl[button.can_addr][button.can_msg] in button.values)
if self.button_states[button.event_type] != state:
event = car.CarState.ButtonEvent.new_message()
event.type = button.event_type
event.pressed = state
buttonEvents.append(event)
self.button_states[button.event_type] = state
ret.buttonEvents = buttonEvents
# Doors
ret.doorOpen = any((self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS)
# Blinkers
ret.leftBlinker = (cp.vl["GTW_carState"]["BC_indicatorLStatus"] == 1)
ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1)
# Seatbelt
if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
ret.seatbeltUnlatched = (cp.vl["DriverSeat"]["buckleStatus"] != 1)
else:
ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
# TODO: blindspot
# AEB
ret.stockAeb = (cp_cam.vl["DAS_control"]["DAS_aebEvent"] == 1)
# Messages needed by carcontroller
self.msg_stw_actn_req = copy.copy(cp.vl["STW_ACTN_RQ"])
self.acc_state = cp_cam.vl["DAS_control"]["DAS_accState"]
self.das_control_counters.extend(cp_cam.vl_all["DAS_control"]["DAS_controlCounter"])
return ret
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@staticmethod
def get_can_parser(CP):
messages = [
# sig_address, frequency
("ESP_B", 50),
("DI_torque1", 100),
("DI_torque2", 100),
("STW_ANGLHP_STAT", 100),
("EPAS_sysStatus", 25),
("DI_state", 10),
("STW_ACTN_RQ", 10),
("GTW_carState", 10),
("BrakeMessage", 50),
]
if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
messages.append(("DriverSeat", 20))
else:
messages.append(("SDM1", 10))
return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis)
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@staticmethod
def get_cam_can_parser(CP):
messages = [
# sig_address, frequency
("DAS_control", 40),
]
if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
messages.append(("EPAS3P_sysStatus", 100))
return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis)