import cereal.messaging as messaging
from opendbc.can.packer import CANPacker
from opendbc.can.parser import CANParser
from openpilot.common.params import Params
from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
from openpilot.tools.sim.lib.common import SimulatorState
from panda.python import Panda
[docs]
class SimulatedCar:
"""Simulates a honda civic 2022 (panda state + can messages) to OpenPilot"""
packer = CANPacker("honda_civic_ex_2022_can_generated")
def __init__(self):
self.pm = messaging.PubMaster(['can', 'pandaStates'])
self.sm = messaging.SubMaster(['carControl', 'controlsState', 'carParams'])
self.cp = self.get_car_can_parser()
self.idx = 0
self.params = Params()
self.obd_multiplexing = False
[docs]
@staticmethod
def get_car_can_parser():
dbc_f = 'honda_civic_ex_2022_can_generated'
checks = [
]
return CANParser(dbc_f, checks, 0)
[docs]
def send_can_messages(self, simulator_state: SimulatorState):
if not simulator_state.valid:
return
msg = []
# *** powertrain bus ***
speed = simulator_state.speed * 3.6 # convert m/s to kph
msg.append(self.packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}))
msg.append(self.packer.make_can_msg("WHEEL_SPEEDS", 0, {
"WHEEL_SPEED_FL": speed,
"WHEEL_SPEED_FR": speed,
"WHEEL_SPEED_RL": speed,
"WHEEL_SPEED_RR": speed
}))
msg.append(self.packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": simulator_state.cruise_button}))
msg.append(self.packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
msg.append(self.packer.make_can_msg("GAS_PEDAL_2", 0, {}))
msg.append(self.packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
msg.append(self.packer.make_can_msg("STEER_STATUS", 0, {"STEER_TORQUE_SENSOR": simulator_state.user_torque}))
msg.append(self.packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": simulator_state.steering_angle}))
msg.append(self.packer.make_can_msg("VSA_STATUS", 0, {}))
msg.append(self.packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if simulator_state.speed >= 1.0 else 0}))
msg.append(self.packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}))
msg.append(self.packer.make_can_msg("EPB_STATUS", 0, {}))
msg.append(self.packer.make_can_msg("DOORS_STATUS", 0, {}))
msg.append(self.packer.make_can_msg("CRUISE_PARAMS", 0, {}))
msg.append(self.packer.make_can_msg("CRUISE", 0, {}))
msg.append(self.packer.make_can_msg("CRUISE_FAULT_STATUS", 0, {}))
msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0,
{
"MAIN_ON": 1,
"LEFT_BLINKER": simulator_state.left_blinker,
"RIGHT_BLINKER": simulator_state.right_blinker
}))
msg.append(self.packer.make_can_msg("POWERTRAIN_DATA", 0,
{
"ACC_STATUS": int(simulator_state.is_engaged),
"PEDAL_GAS": simulator_state.user_gas,
"BRAKE_PRESSED": simulator_state.user_brake > 0
}))
msg.append(self.packer.make_can_msg("CAR_SPEED", 0, {}))
# *** cam bus ***
msg.append(self.packer.make_can_msg("STEERING_CONTROL", 2, {}))
msg.append(self.packer.make_can_msg("ACC_HUD", 2, {}))
msg.append(self.packer.make_can_msg("LKAS_HUD", 2, {}))
self.pm.send('can', can_list_to_can_capnp(msg))
[docs]
def send_panda_state(self, simulator_state):
self.sm.update(0)
if self.params.get_bool("ObdMultiplexingEnabled") != self.obd_multiplexing:
self.obd_multiplexing = not self.obd_multiplexing
self.params.put_bool("ObdMultiplexingChanged", True)
dat = messaging.new_message('pandaStates', 1)
dat.valid = True
dat.pandaStates[0] = {
'ignitionLine': simulator_state.ignition,
'pandaType': "blackPanda",
'controlsAllowed': True,
'safetyModel': 'hondaBosch',
'alternativeExperience': self.sm["carParams"].alternativeExperience,
'safetyParam': Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_BOSCH_LONG,
}
self.pm.send('pandaStates', dat)
[docs]
def update(self, simulator_state: SimulatorState):
self.send_can_messages(simulator_state)
if self.idx % 50 == 0: # only send panda states at 2hz
self.send_panda_state(simulator_state)
self.idx += 1