from cereal import car
SteerControlType = car.CarParams.SteerControlType
[docs]
def create_steer_command(packer, steer, steer_req):
"""Creates a CAN message for the Toyota Steer Command."""
values = {
"STEER_REQUEST": steer_req,
"STEER_TORQUE_CMD": steer,
"SET_ME_1": 1,
}
return packer.make_can_msg("STEERING_LKA", 0, values)
[docs]
def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req, frame, torque_wind_down):
"""Creates a CAN message for the Toyota LTA Steer Command."""
values = {
"COUNTER": frame + 128,
"SETME_X1": 1, # suspected LTA feature availability
# 1 for TSS 2.5 cars, 3 for TSS 2.0. Send based on whether we're using LTA for lateral control
"SETME_X3": 1 if steer_control_type == SteerControlType.angle else 3,
"PERCENTAGE": 100,
"TORQUE_WIND_DOWN": torque_wind_down,
"ANGLE": 0,
"STEER_ANGLE_CMD": steer_angle,
"STEER_REQUEST": steer_req,
"STEER_REQUEST_2": steer_req,
"CLEAR_HOLD_STEERING_ALERT": 0,
}
return packer.make_can_msg("STEERING_LTA", 0, values)
[docs]
def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance):
# TODO: find the exact canceling bit that does not create a chime
values = {
"ACCEL_CMD": accel,
"ACC_TYPE": acc_type,
"DISTANCE": distance,
"MINI_CAR": lead,
"PERMIT_BRAKING": 1,
"RELEASE_STANDSTILL": not standstill_req,
"CANCEL_REQ": pcm_cancel,
"ALLOW_LONG_PRESS": 1,
"ACC_CUT_IN": fcw_alert, # only shown when ACC enabled
}
return packer.make_can_msg("ACC_CONTROL", 0, values)
[docs]
def create_acc_cancel_command(packer):
values = {
"GAS_RELEASED": 0,
"CRUISE_ACTIVE": 0,
"ACC_BRAKING": 0,
"ACCEL_NET": 0,
"CRUISE_STATE": 0,
"CANCEL_REQ": 1,
}
return packer.make_can_msg("PCM_CRUISE", 0, values)
[docs]
def create_fcw_command(packer, fcw):
values = {
"PCS_INDICATOR": 1, # PCS turned off
"FCW": fcw,
"SET_ME_X20": 0x20,
"SET_ME_X10": 0x10,
"PCS_OFF": 1,
"PCS_SENSITIVITY": 0,
}
return packer.make_can_msg("PCS_HUD", 0, values)
[docs]
def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud):
values = {
"TWO_BEEPS": chime,
"LDA_ALERT": steer,
"RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
"LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
"BARRIERS": 1 if enabled else 0,
# static signals
"SET_ME_X02": 2,
"SET_ME_X01": 1,
"LKAS_STATUS": 1,
"REPEATED_BEEPS": 0,
"LANE_SWAY_FLD": 7,
"LANE_SWAY_BUZZER": 0,
"LANE_SWAY_WARNING": 0,
"LDA_FRONT_CAMERA_BLOCKED": 0,
"TAKE_CONTROL": 0,
"LANE_SWAY_SENSITIVITY": 2,
"LANE_SWAY_TOGGLE": 1,
"LDA_ON_MESSAGE": 0,
"LDA_MESSAGES": 0,
"LDA_SA_TOGGLE": 1,
"LDA_SENSITIVITY": 2,
"LDA_UNAVAILABLE": 0,
"LDA_MALFUNCTION": 0,
"LDA_UNAVAILABLE_QUIET": 0,
"ADJUSTING_CAMERA": 0,
"LDW_EXIST": 1,
}
# lane sway functionality
# not all cars have LKAS_HUD — update with camera values if available
if len(stock_lkas_hud):
values.update({s: stock_lkas_hud[s] for s in [
"LANE_SWAY_FLD",
"LANE_SWAY_BUZZER",
"LANE_SWAY_WARNING",
"LANE_SWAY_SENSITIVITY",
"LANE_SWAY_TOGGLE",
]})
return packer.make_can_msg("LKAS_HUD", 0, values)