def __init__(self, canbus, car_fingerprint):
self.pedal_steady = 0.
self.start_time = 0.
self.steer_idx = 0
self.apply_steer_last = 0
self.car_fingerprint = car_fingerprint
self.lka_icon_status_last = (False, False)
# Setup detection helper. Routes commands to
# an appropriate CAN bus number.
self.canbus = canbus
self.params = CarControllerParams(car_fingerprint)
self.packer_pt = CANPacker(DBC[car_fingerprint]['pt'])
self.packer_ch = CANPacker(DBC[car_fingerprint]['chassis'])
def __init__(self,
dbc_name=None,
car_fingerprint="MIEV",
enable_camera=1,
enable_dsu=1,
enable_apg=1):
self.braking = False
# redundant safety check with the board
self.controls_allowed = True
self.last_steer = 0
self.last_angle = 0
self.accel_steady = 0.
self.car_fingerprint = car_fingerprint
self.alert_active = False
self.last_standstill = False
self.standstill_req = False
self.angle_control = False
self.steer_angle_enabled = False
self.last_fault_frame = -200
self.fake_ecus = set()
#if enable_camera: self.fake_ecus.add(ECU.CAM)
if enable_dsu: self.fake_ecus.add(ECU.DSU)
#if enable_apg: self.fake_ecus.add(ECU.APGS)
self.packer = CANPacker(dbc_name)
self.client = Client()
def __init__(self, dbc_name, enable_camera=True): self.params = Params() self.braking = False self.brake_steady = 0. self.brake_last = 0. self.enable_camera = enable_camera self.packer = CANPacker(dbc_name) self.epas_disabled = True self.last_angle = 0. self.last_accel = 0. self.ALCA = ALCAController(self,True,True) # Enabled and SteerByAngle both True self.ACC = ACCController() self.PCC = PCCController(self) self.HSO = HSOController(self) self.GYRO = GYROController() self.sent_DAS_bootID = False context = zmq.Context() self.poller = zmq.Poller() self.speedlimit = messaging.sub_sock(context, service_list['liveMapData'].port, conflate=True, poller=self.poller) self.speedlimit_ms = 0 self.speedlimit_valid = False self.speedlimit_units = 0 self.opState = 0 # 0-disabled, 1-enabled, 2-disabling, 3-unavailable, 5-warning self.accPitch = 0. self.accRoll = 0. self.accYaw = 0. self.magPitch = 0. self.magRoll = 0. self.magYaw = 0. self.gyroPitch = 0. self.gyroRoll = 0. self.gyroYaw = 0. self.set_speed_limit_active = False self.speed_limit_offset = 0.
def __init__(self, dbc_name, car_fingerprint, enable_camera, enable_dsu,
enable_apg):
self.braking = False
# redundant safety check with the board
self.controls_allowed = True
self.last_steer = 0
self.last_angle = 0
self.accel_steady = 0.
self.car_fingerprint = car_fingerprint
self.alert_active = False
self.last_standstill = False
self.standstill_req = False
self.angle_control = False
self.steer_angle_enabled = False
self.ipas_reset_counter = 0
self.last_fault_frame = -200
self.fake_ecus = set()
if enable_camera: self.fake_ecus.add(ECU.CAM)
if enable_dsu: self.fake_ecus.add(ECU.DSU)
if enable_apg: self.fake_ecus.add(ECU.APGS)
self.ALCA = ALCAController(
self, True, False) # Enabled True and SteerByAngle only False
self.packer = CANPacker(dbc_name)
def __init__(self, dbc_name, car_fingerprint, enable_camera):
self.apply_steer_last = 0
self.turning_signal_timer = 0
self.car_fingerprint = car_fingerprint
self.lkas11_cnt = 0
self.mdps12_cnt = 0
self.cnt = 0
self.last_resume_cnt = 0
self.map_speed = 0
self.enable_camera = enable_camera
# True when camera present, and we need to replace all the camera messages
# otherwise we forward the camera msgs and we just replace the lkas cmd signals
self.camera_disconnected = False
self.packer = CANPacker(dbc_name)
context = zmq.Context()
self.params = Params()
self.map_data_sock = messaging.sub_sock(
context, service_list['liveMapData'].port, conflate=True)
self.speed_conv = 3.6
self.speed_adjusted = False
self.checksum = "NONE"
self.checksum_learn_cnt = 0
self.en_cnt = 0
self.apply_steer_ang = 0.0
self.en_spas = 3
self.mdps11_stat_last = 0
self.lkas = False
self.spas_present = True # TODO Make Automatic
self.ALCA = ALCAController(
self, True, False) # Enabled True and SteerByAngle only False
def test_hud(self):
packer = CANPacker('chrysler_pacifica_2017_hybrid')
self.assertEqual(
[0x2a6, 0, '0100010100000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(
packer,
'park', False, False, 1, 0))
self.assertEqual(
[0x2a6, 0, '0100010000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(
packer,
'park', False, False, 5*4, 0))
self.assertEqual(
[0x2a6, 0, '0100010000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(
packer,
'park', False, False, 99999, 0))
self.assertEqual(
[0x2a6, 0, '0200060000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(
packer,
'drive', True, False, 99999, 0))
self.assertEqual(
[0x2a6, 0, '0264060000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(
packer,
'drive', True, False, 99999, 0x64))
def __init__(self, dbc_name, car_fingerprint):
self.apply_steer_last = 0
self.car_fingerprint = car_fingerprint
self.lkas11_cnt = 0
self.clu11_cnt = 0
self.mdps12_cnt = 0
self.cnt = 0
self.last_resume_cnt = 0
self.map_speed = 0
self.map_data_sock = messaging.sub_sock(service_list['liveMapData'].port)
self.params = Params()
self.speed_conv = 3.6
self.speed_offset = 1.03 # Multiplier for cruise speed vs speed limit TODO: Add to UI
self.speed_enable = True # Enable Auto Speed Set TODO: Add to UI
self.speed_adjusted = False
self.checksum = "NONE"
self.checksum_learn_cnt = 0
self.turning_signal_timer = 0
self.camera_disconnected = False
self.checksum_found = False
self.packer = CANPacker(dbc_name)
def __init__(self, dbc_name, car_fingerprint, enable_camera, enable_dsu, enable_apg):
self.braking = False
# redundant safety check with the board
self.controls_allowed = True
self.last_steer = 0
self.last_angle = 0
self.accel_steady = 0.
self.car_fingerprint = car_fingerprint
self.alert_active = False
self.last_standstill = False
self.standstill_req = False
self.angle_control = False
self.steer_angle_enabled = False
self.ipas_reset_counter = 0
self.last_fault_frame = -200
self.fake_ecus = set()
if enable_camera: self.fake_ecus.add(ECU.CAM)
if enable_dsu: self.fake_ecus.add(ECU.DSU)
if enable_apg: self.fake_ecus.add(ECU.APGS)
self.packer = CANPacker(dbc_name)
# Openpilot Buttons -- https://github.com/rhinodavid/OpenpilotButtons
# used to rate limit sending of ACC Time Gap advance commands
self.last_acc_advance_time = 0.
def __init__(self, dbc_name, enable_camera=True):
self.braking = False
self.brake_steady = 0.
self.brake_last = 0.
self.enable_camera = enable_camera
self.packer = CANPacker(dbc_name)
self.new_radar_config = False
def test_hud(self):
packer = CANPacker('chrysler_pacifica_2017_hybrid')
self.assertEqual([0x2a6, 0, '0000010100000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(packer, 'park', False,
False,
CAR.PACIFICA_2017_HYBRID,
1))
self.assertEqual([0x2a6, 0, '0000010000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(packer, 'park', False,
False,
CAR.PACIFICA_2017_HYBRID,
5 * 4))
self.assertEqual([0x2a6, 0, '0000000000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(packer, 'park', False,
False,
CAR.PACIFICA_2017_HYBRID,
99999))
self.assertEqual([0x2a6, 0, '0200060000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(packer, 'drive', True,
False,
CAR.PACIFICA_2017_HYBRID,
99999))
self.assertEqual([0x2a6, 0, '0264060000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(packer, 'drive', True,
False, CAR.PACIFICA_2018,
99999))
def __init__(self, dbc_name, car_fingerprint, enable_camera, enable_dsu,
enable_apg):
self.braking = False
# redundant safety check with the board
self.controls_allowed = True
self.last_steer = 0
self.last_angle = 0
self.send_new_status = False # indicates we want to send 2a6 when we can.
self.prev_2a6 = -9999 # long time ago.
self.ccframe = 0
self.accel_steady = 0.
self.car_fingerprint = car_fingerprint
self.alert_active = False
self.last_standstill = False
self.standstill_req = False
self.angle_control = False
self.steer_angle_enabled = False
self.ipas_reset_counter = 0
self.fake_ecus = set()
if enable_camera: self.fake_ecus.add(ECU.CAM)
#if enable_dsu: self.fake_ecus.add(ECU.DSU)
#if enable_apg: self.fake_ecus.add(ECU.APGS)
self.packer = CANPacker(dbc_name)
logging.basicConfig(
level=logging.DEBUG,
filename="/tmp/chrylog",
filemode="a+",
format="%(asctime)-15s %(levelname)-8s %(message)s")
def __init__(self, canbus, car_fingerprint):
self.pedal_steady = 0.
self.start_time = sec_since_boot()
self.chime = 0
self.lkas_active = False
self.inhibit_steer_for = 0
self.steer_idx = 0
self.apply_steer_last = 0
self.car_fingerprint = car_fingerprint
# Setup detection helper. Routes commands to
# an appropriate CAN bus number.
self.canbus = canbus
self.params = CarControllerParams(car_fingerprint)
self.packer_pt = CANPacker(DBC[car_fingerprint]['pt'])
self.packer_ch = CANPacker(DBC[car_fingerprint]['chassis'])
def __init__(self, dbc_name):
self.braking = False
self.brake_steady = 0.
self.brake_last = 0.
self.apply_brake_last = 0
self.last_pump_ts = 0.
self.packer = CANPacker(dbc_name)
self.new_radar_config = False
def __init__(self, dbc_name, enable_camera=True): self.braking = False self.brake_steady = 0. self.brake_last = 0. self.enable_camera = enable_camera self.packer = CANPacker(dbc_name) self.new_radar_config = False self.ALCA = ALCAController(self,True,False) # Enabled True and SteerByAngle only False
def __init__(self, dbc_name, enable_camera, vehicle_model):
self.packer = CANPacker(dbc_name)
self.enable_camera = enable_camera
self.enabled_last = False
self.main_on_last = False
self.vehicle_model = vehicle_model
self.generic_toggle_last = 0
self.steer_alert_last = False
self.lkas_action = 0
def __init__(self, dbc_name):
self.braking = False
self.brake_steady = 0.
self.brake_last = 0.
self.apply_brake_last = 0
self.last_pump_on_state = False
self.packer = CANPacker(dbc_name)
self.new_radar_config = False
self.prev_lead_distance = 0.0
def __init__(self, canbus, car_fingerprint, allow_controls):
self.pedal_steady = 0.
self.start_time = sec_since_boot()
self.chime = 0
self.steer_idx = 0
self.apply_steer_last = 0
self.car_fingerprint = car_fingerprint
self.allow_controls = allow_controls
self.lka_icon_status_last = (False, False)
self.ALCA = ALCAController(
self, True, False) # Enabled True and SteerByAngle only False
# Setup detection helper. Routes commands to
# an appropriate CAN bus number.
self.canbus = canbus
self.params = CarControllerParams(car_fingerprint)
self.packer_pt = CANPacker(DBC[car_fingerprint]['pt'])
self.packer_ch = CANPacker(DBC[car_fingerprint]['chassis'])
def __init__(self, dbc_name, car_fingerprint):
self.apply_steer_last = 0
self.car_fingerprint = car_fingerprint
self.lkas11_cnt = 0
self.cnt = 0
self.last_resume_cnt = 0
# True when giraffe switch 2 is low and we need to replace all the camera messages
# otherwise we forward the camera msgs and we just replace the lkas cmd signals
self.camera_disconnected = False
self.packer = CANPacker(dbc_name)
def test_subaru(self):
# Subuaru is little endian
CP = SubaruInterface.get_params(SUBARU_CAR.IMPREZA)
signals = [
("Counter", "ES_LKAS", 0),
("LKAS_Output", "ES_LKAS", 0),
("LKAS_Request", "ES_LKAS", 0),
("SET_1", "ES_LKAS", 0),
]
checks = []
parser = CANParser(SUBARU_DBC[CP.carFingerprint]['pt'], signals,
checks, 0)
packer = CANPacker(SUBARU_DBC[CP.carFingerprint]['pt'])
idx = 0
for steer in range(0, 255):
for active in [1, 0]:
values = {
"Counter": idx,
"LKAS_Output": steer,
"LKAS_Request": active,
"SET_1": 1
}
msgs = packer.make_can_msg("ES_LKAS", 0, values)
bts = can_list_to_can_capnp([msgs])
parser.update_string(bts)
self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Output"],
steer)
self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Request"],
active)
self.assertAlmostEqual(parser.vl["ES_LKAS"]["SET_1"], 1)
self.assertAlmostEqual(parser.vl["ES_LKAS"]["Counter"],
idx % 16)
idx += 1
def test_command(self):
packer = CANPacker('chrysler_pacifica_2017_hybrid')
self.assertEqual(
[0x292, 0, '140000001086'.decode('hex'), 0],
chryslercan.create_lkas_command(
packer,
0, True, 1))
self.assertEqual(
[0x292, 0, '040000008083'.decode('hex'), 0],
chryslercan.create_lkas_command(
packer,
0, False, 8))
def __init__(self, car_fingerprint):
self.lkas_active = False
self.steer_idx = 0
self.apply_steer_last = 0
self.car_fingerprint = car_fingerprint
self.es_distance_cnt = -1
self.es_lkas_cnt = -1
# Setup detection helper. Routes commands to
# an appropriate CAN bus number.
self.params = CarControllerParams(car_fingerprint)
self.packer = CANPacker(DBC[car_fingerprint]['pt'])
def __init__(self, dbc_name):
self.braking = False
self.brake_steady = 0.
self.brake_last = 0.
self.apply_brake_last = 0
self.last_pump_ts = 0.
self.packer = CANPacker(dbc_name)
self.new_radar_config = False
self.prev_lead_distance = 0.0
self.stopped_lead_distance = 0.0
self.lead_distance_counter = 1
self.lead_distance_counter_prev = 1
self.rough_lead_speed = 0.0
def __init__(self, dbc_name, enable_camera=True):
self.braking = False
self.brake_steady = 0.
self.brake_last = 0.
self.enable_camera = enable_camera
self.packer = CANPacker(dbc_name)
self.epas_disabled = True
self.last_angle = 0.
self.last_accel = 0.
self.ALCA = ALCAController(self, True,
True) # Enabled and SteerByAngle both True
self.ACC = ACCController()
self.PCC = PCCController(self)
self.HSO = HSOController(self)
def __init__(self, canbus, car_fingerprint):
self.apply_steer_last = 0
self.car_fingerprint = car_fingerprint
# Setup detection helper. Routes commands to an appropriate CAN bus number.
self.canbus = canbus
self.packer_gw = CANPacker(DBC[car_fingerprint]['pt'])
self.hcaSameTorqueCount = 0
self.hcaEnabledFrameCount = 0
self.graButtonStatesToSend = None
self.graMsgSentCount = 0
self.graMsgStartFramePrev = 0
self.graMsgBusCounterPrev = 0
def __init__(self, dbc_name, enable_camera=True):
self.braking = False
self.brake_steady = 0.
self.brake_last = 0.
self.apply_brake_last = 0
self.last_pump_ts = 0
self.enable_camera = enable_camera
self.packer = CANPacker(dbc_name)
self.new_radar_config = False
#self.params = Params()
self.is_metric = Params().get("IsMetric") == "1"
if self.is_metric:
self.speed_units = 2
else:
self.speed_units = 3
def test_civic(self):
CP = HondaInterface.get_params(HONDA_CAR.CIVIC)
signals = [
("STEER_TORQUE", "STEERING_CONTROL", 0),
("STEER_TORQUE_REQUEST", "STEERING_CONTROL", 0),
]
checks = []
parser = CANParser(HONDA_DBC[CP.carFingerprint]['pt'], signals, checks,
0)
packer = CANPacker(HONDA_DBC[CP.carFingerprint]['pt'])
idx = 0
for steer in range(0, 255):
for active in [1, 0]:
values = {
"STEER_TORQUE": steer,
"STEER_TORQUE_REQUEST": active,
}
msgs = packer.make_can_msg("STEERING_CONTROL", 0, values, idx)
bts = can_list_to_can_capnp([msgs])
parser.update_string(bts)
self.assertAlmostEqual(
parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], steer)
self.assertAlmostEqual(
parser.vl["STEERING_CONTROL"]["STEER_TORQUE_REQUEST"],
active)
self.assertAlmostEqual(
parser.vl["STEERING_CONTROL"]["COUNTER"], idx % 4)
idx += 1
def __init__(self, dbc_name, car_fingerprint, enable_camera):
self.braking = False
self.controls_allowed = True
self.apply_steer_last = 0
self.car_fingerprint = car_fingerprint
self.angle_control = False
self.idx = 0
self.lkas_request = 0
self.lanes = 0
self.steer_angle_enabled = False
self.ipas_reset_counter = 0
self.turning_inhibit = 0
self.hide_lkas_fault = 180
print self.car_fingerprint
self.packer = CANPacker(dbc_name)
def __init__(self, dbc_name, car_fingerprint, enable_camera):
self.braking = False
# redundant safety check with the board
self.controls_allowed = True
self.apply_steer_last = 0
self.ccframe = 0
self.prev_frame = -1
self.car_fingerprint = car_fingerprint
self.alert_active = False
self.send_chime = False
self.fake_ecus = set()
if enable_camera:
self.fake_ecus.add(ECU.CAM)
self.packer = CANPacker(dbc_name)
def __init__(self, dbc_name, car_fingerprint, enable_camera=True):
self.braking = False
self.brake_steady = 0.
self.brake_last = 0.
self.enable_camera = enable_camera
self.packer = CANPacker(dbc_name)
self.new_radar_config = False
self.car_fingerprint = car_fingerprint #2018.09.06 12:06AM borrow from subaru carcontroller.py
# 2018.09.06 12:09AM borrow from subaru carcontroller.py
# Setup detection helper. Routes commands to
# an appropriate CAN bus number.
#self.canbus = canbus
self.params = SteerLimitParams(
car_fingerprint
) #2018.09.05 define steering paramater limt #TODO to use in code
def __init__(self, car_fingerprint): self.start_time = sec_since_boot() self.lkas_active = False self.steer_idx = 0 self.apply_steer_last = 0 self.car_fingerprint = car_fingerprint self.es_distance_cnt = -1 self.es_lkas_cnt = -1 self.counter = 0 self.ALCA = ALCAController(self,True,False) # Enabled True and SteerByAngle only False # Setup detection helper. Routes commands to # an appropriate CAN bus number. self.params = CarControllerParams(car_fingerprint) print(DBC) self.packer = CANPacker(DBC[car_fingerprint]['pt'])
