def get_camera_parser(CP):
signals = [
# sig_name, sig_address, default
("CF_Lkas_Icon", "LKAS11", 0),
("CF_Lkas_LdwsSysState", "LKAS11", 0),
("CF_Lkas_SysWarning", "LKAS11", 0),
("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
("CF_Lkas_LdwsRHWarning", "LKAS11", 0),
("CF_Lkas_HbaLamp", "LKAS11", 0),
("CF_Lkas_FcwBasReq", "LKAS11", 0),
("CF_Lkas_ToiFlt", "LKAS11", 0),
("CF_Lkas_HbaSysState", "LKAS11", 0),
("CF_Lkas_FcwOpt", "LKAS11", 0),
("CF_Lkas_HbaOpt", "LKAS11", 0),
("CF_Lkas_FcwSysState", "LKAS11", 0),
("CF_Lkas_FcwCollisionWarning", "LKAS11", 0),
("CF_Lkas_FusionState", "LKAS11", 0),
("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
("CF_Lkas_LdwsOpt_USM", "LKAS11", 0),
("CF_Lkas_Unknown1", "LKAS11", 0),
("CF_Lkas_Unknown2", "LKAS11", 0),
("CF_Lkas_ActToi", "LKAS11", 0),
("CR_Lkas_StrToqReq", "LKAS11", 0),
("CF_Lkas_MsgCount", "LKAS11", 0),
("CF_Lkas_Chksum", "LKAS11", 0)
]
checks = [("LKAS11", 100)]
return (CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)), \
(CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 1))
def run_route(route):
can = messaging.pub_sock(service_list['can'].port)
CP = CarInterface.get_params(CAR.CIVIC, {})
signals, checks = get_can_signals(CP)
parser_old = CANParserOld(DBC[CP.carFingerprint]['pt'],
signals,
checks,
0,
timeout=-1,
tcp_addr="127.0.0.1")
parser_new = CANParserNew(DBC[CP.carFingerprint]['pt'],
signals,
checks,
0,
timeout=-1,
tcp_addr="127.0.0.1")
parser_string = CANParserNew(DBC[CP.carFingerprint]['pt'],
signals,
checks,
0,
timeout=-1)
if dict_keys_differ(parser_old.vl, parser_new.vl):
return False
lr = LogReader(route + ".bz2")
route_ok = True
t = 0
for msg in lr:
if msg.which() == 'can':
t += DT
msg_bytes = msg.as_builder().to_bytes()
can.send(msg_bytes)
_, updated_old = parser_old.update(t, True)
_, updated_new = parser_new.update(t, True)
updated_string = parser_string.update_string(t, msg_bytes)
if updated_old != updated_new:
route_ok = False
print(t, "Diff in seen")
if updated_new != updated_string:
route_ok = False
print(t, "Diff in seen string")
if dicts_vals_differ(parser_old.vl, parser_new.vl):
print(t, "Diff in dict")
route_ok = False
if dicts_vals_differ(parser_new.vl, parser_string.vl):
print(t, "Diff in dict string")
route_ok = False
return route_ok
def _create_radar_can_parser():
dbc_f = 'chrysler_pacifica_2017_hybrid_private_fusion.dbc'
msg_n = len(RADAR_MSGS_C)
# list of [(signal name, message name or number, initial values), (...)]
# [('RADAR_STATE', 1024, 0),
# ('LONG_DIST', 1072, 255),
# ('LONG_DIST', 1073, 255),
# ('LONG_DIST', 1074, 255),
# ('LONG_DIST', 1075, 255),
# The factor and offset are applied by the dbc parsing library, so the
# default values should be after the factor/offset are applied.
signals = list(
zip(
['LONG_DIST'] * msg_n + ['LAT_DIST'] * msg_n +
['REL_SPEED'] * msg_n,
RADAR_MSGS_C * 2 + # LONG_DIST, LAT_DIST
RADAR_MSGS_D, # REL_SPEED
[0] * msg_n + # LONG_DIST
[-1000] * msg_n + # LAT_DIST
[-146.278] * msg_n)) # REL_SPEED set to 0, factor/offset to this
# TODO what are the checks actually used for?
# honda only checks the last message,
# toyota checks all the messages. Which do we want?
checks = list(
zip(
RADAR_MSGS_C + RADAR_MSGS_D,
[20] * msg_n + # 20Hz (0.05s)
[20] * msg_n)) # 20Hz (0.05s)
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
def get_powertrain_can_parser(CP, canbus):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("LEFT_BLINKER", "Dashlights", 0),
("RIGHT_BLINKER", "Dashlights", 0),
("Steering_Angle", "Steering", 0),
("FL", "WHEEL_SPEEDS", 0),
("FR", "WHEEL_SPEEDS", 0),
("RL", "WHEEL_SPEEDS", 0),
("RR", "WHEEL_SPEEDS", 0),
("Steer_Torque_Sensor", "Steering_Torque", 0),
("Cruise_On", "CruiseControl", 0),
("Cruise_Activated", "CruiseControl", 0),
]
checks = [
# sig_address, frequency
("Dashlights", 10),
("CruiseControl", 20),
#remove("ES_Brake", 20),
#remove("ES_RPM", 20),
#remove("ES_LDW", 20),
#remove("ES_CruiseThrottle", 20),
("Steering", 100),
("WHEEL_SPEEDS", 50),
("Steering_Torque", 100),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks,
canbus.powertrain)
def get_can_parser2(CP):
signals = [
("Byte0", "LKAS11", 0),
("Byte1", "LKAS11", 0),
("Byte2", "LKAS11", 0),
("Byte3", "LKAS11", 0),
("Byte4", "LKAS11", 0),
("Byte5", "LKAS11", 0),
("Byte6", "LKAS11", 0), # Checksum
("Byte7", "LKAS11", 0),
("Byte0", "LKAS12", 0),
("Byte1", "LKAS12", 0),
("Byte2", "LKAS12", 0),
("Byte3", "LKAS12", 0),
("Byte4", "LKAS12", 0),
("Byte5", "LKAS12", 0)
]
checks = [
("LKAS11", 100), # LKAS11 = 100Hz
("LKAS12", 10) # LKAS12 = 10Hz
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 1)
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
if CP.carFingerprint == CAR.PRIUS:
dbc_f = 'toyota_prius_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.RAV4H:
dbc_f = 'toyota_rav4_hybrid_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.RAV4:
dbc_f = 'toyota_rav4_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.COROLLA:
dbc_f = 'toyota_corolla_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.LEXUS_RXH:
dbc_f = 'lexus_rx_hybrid_2017_pt_generated.dbc'
elif CP.carFingerprint == CAR.CAMRYH:
dbc_f = 'toyota_camry_hybrid_2018_pt_generated.dbc'
elif CP.carFingerprint == CAR.CAMRY:
dbc_f = 'toyota_rav4_2017_pt_generated.dbc'
signals = [
# sig_name, sig_address, default
("GEAR", "GEAR_PACKET", 0),
("BRAKE_PRESSED", "BRAKE_MODULE", 0),
("GAS_PEDAL", "GAS_PEDAL", 0),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
("DOOR_OPEN_FL", "SEATS_DOORS", 1),
("DOOR_OPEN_FR", "SEATS_DOORS", 1),
("DOOR_OPEN_RL", "SEATS_DOORS", 1),
("DOOR_OPEN_RR", "SEATS_DOORS", 1),
("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
("TC_DISABLED", "ESP_CONTROL", 1),
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
("GAS_RELEASED", "PCM_CRUISE", 0),
("CRUISE_STATE", "PCM_CRUISE", 0),
("MAIN_ON", "PCM_CRUISE_2", 0),
("SET_SPEED", "PCM_CRUISE_2", 0),
("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers
("LKA_STATE", "EPS_STATUS", 0),
("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
]
checks = [
("BRAKE_MODULE", 40),
("GAS_PEDAL", 33),
("WHEEL_SPEEDS", 80),
("STEER_ANGLE_SENSOR", 80),
("PCM_CRUISE", 33),
("PCM_CRUISE_2", 33),
("STEER_TORQUE_SENSOR", 50),
("EPS_STATUS", 25),
]
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 0)
def _create_radard_can_parser():
dbc_f = 'teslaradar.dbc'
msg_a_n = len(RADAR_A_MSGS)
msg_b_n = len(RADAR_B_MSGS)
signals = list(
zip(['LongDist'] * msg_a_n + ['LatDist'] * msg_a_n +
['LongSpeed'] * msg_a_n + ['LongAccel'] * msg_a_n +
['Valid'] * msg_a_n + ['Tracked'] * msg_a_n + ['Meas'] * msg_a_n +
['ProbExist'] * msg_a_n + ['Index'] * msg_a_n +
['ProbObstacle'] * msg_a_n + ['LatSpeed'] * msg_b_n +
['Index2'] * msg_b_n + ['Class'] * msg_b_n +
['ProbClass'] * msg_b_n + ['Length'] * msg_b_n + ['dZ'] * msg_b_n +
['MovingState'] * msg_b_n, RADAR_A_MSGS * 10 + RADAR_B_MSGS * 7,
[255.] * msg_a_n + [0.] * msg_a_n + [0.] * msg_a_n +
[0.] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n +
[0.] * msg_a_n + [0] * msg_a_n + [0.] * msg_a_n + [0.] * msg_b_n +
[0] * msg_b_n + [0] * msg_b_n + [0.] * msg_b_n + [0.] * msg_b_n +
[0.] * msg_b_n + [0] * msg_b_n))
checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [6] * (msg_a_n + msg_b_n)))
return CANParser(
os.path.splitext(dbc_f)[0].encode('utf8'), signals, checks, 1)
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("PRNDL", "GEAR", 0),
("DOOR_OPEN_FL", "DOORS", 0),
("DOOR_OPEN_FR", "DOORS", 0),
("DOOR_OPEN_RL", "DOORS", 0),
("DOOR_OPEN_RR", "DOORS", 0),
("BRAKE_PRESSED_2", "BRAKE_2", 0),
("ACCEL_PEDAL", "ACCEL_PEDAL_MSG", 0),
("SPEED_LEFT", "SPEED_1", 0),
("SPEED_RIGHT", "SPEED_1", 0),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("STEER_ANGLE", "STEERING", 0),
("STEERING_RATE", "STEERING", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 0),
("ACC_STATUS_2", "ACC_2", 0),
("HIGH_BEAM_FLASH", "STEERING_LEVERS", 0),
("ACC_SPEED_CONFIG_KPH", "DASHBOARD", 0),
("INCREMENTING_220", "LKAS_INDICATOR_1", 0),
]
checks = [
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
def get_camera_can_parser(CP):
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Counter", "ES_Distance", 0),
("Signal1", "ES_Distance", 0),
("Signal2", "ES_Distance", 0),
("Main", "ES_Distance", 0),
("Signal3", "ES_Distance", 0),
("Checksum", "ES_LKAS_State", 0),
("Counter", "ES_LKAS_State", 0),
("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
("Empty_Box", "ES_LKAS_State", 0),
("Signal1", "ES_LKAS_State", 0),
("LKAS_ACTIVE", "ES_LKAS_State", 0),
("Signal2", "ES_LKAS_State", 0),
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
("LKAS_ENABLE_3", "ES_LKAS_State", 0),
("Signal3", "ES_LKAS_State", 0),
("LKAS_ENABLE_2", "ES_LKAS_State", 0),
("Signal4", "ES_LKAS_State", 0),
("FCW_Cont_Beep", "ES_LKAS_State", 0),
("FCW_Repeated_Beep", "ES_LKAS_State", 0),
("Throttle_Management_Activated", "ES_LKAS_State", 0),
("Traffic_light_Ahead", "ES_LKAS_State", 0),
("Right_Depart", "ES_LKAS_State", 0),
("Signal5", "ES_LKAS_State", 0),
]
checks = [
("ES_DashStatus", 10),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
def get_powertrain_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("Steer_Torque_Sensor", "Steering_Torque", 0),
("Steering_Angle", "Steering_Torque", 0),
("Cruise_On", "CruiseControl", 0),
("Cruise_Activated", "CruiseControl", 0),
("Brake_Pedal", "Brake_Pedal", 0),
("Throttle_Pedal", "Throttle", 0),
("LEFT_BLINKER", "Dashlights", 0),
("RIGHT_BLINKER", "Dashlights", 0),
("SEATBELT_FL", "Dashlights", 0),
("FL", "Wheel_Speeds", 0),
("FR", "Wheel_Speeds", 0),
("RL", "Wheel_Speeds", 0),
("RR", "Wheel_Speeds", 0),
("DOOR_OPEN_FR", "BodyInfo", 1),
("DOOR_OPEN_FL", "BodyInfo", 1),
("DOOR_OPEN_RR", "BodyInfo", 1),
("DOOR_OPEN_RL", "BodyInfo", 1),
]
checks = [
# sig_address, frequency
("Dashlights", 10),
("CruiseControl", 20),
("Wheel_Speeds", 50),
("Steering_Torque", 50),
("BodyInfo", 10),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
def get_camera_parser(CP):
signals = [
# sig_name, sig_address, default
("CF_Lkas_LdwsSysState", "LKAS11", 0),
("CF_Lkas_SysWarning", "LKAS11", 0),
("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
("CF_Lkas_LdwsRHWarning", "LKAS11", 0),
("CF_Lkas_HbaLamp", "LKAS11", 0),
("CF_Lkas_FcwBasReq", "LKAS11", 0),
("CF_Lkas_ToiFlt", "LKAS11", 0),
("CF_Lkas_HbaSysState", "LKAS11", 0),
("CF_Lkas_FcwOpt", "LKAS11", 0),
("CF_Lkas_HbaOpt", "LKAS11", 0),
("CF_Lkas_FcwSysState", "LKAS11", 0),
("CF_Lkas_FcwCollisionWarning", "LKAS11", 0),
("CF_Lkas_FusionState", "LKAS11", 0),
("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
("CF_Lkas_LdwsOpt_USM", "LKAS11", 0)
]
checks = []
return CANParser(DBC[CP.carFingerprint]['pt'],
signals,
checks,
2,
timeout=100)
def get_cam_can_parser(CP, canbus):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
#("LINE1", "CAM_LANETRACK", 0),
#("CTR", "CAM_LANETRACK", -1),
#("LINE2", "CAM_LANETRACK", 0),
#("LANE_CURVE", "CAM_LANETRACK", 0),
#("SIG1", "CAM_LANETRACK", 0),
#("SIG2", "CAM_LANETRACK", 0),
#("ZERO", "CAM_LANETRACK", 0),
#("SIG3", "CAM_LANETRACK", 0),
#("CHKSUM", "CAM_LANETRACK", 0),
("LKAS_REQUEST", "CAM_LKAS", 0),
("CTR", "CAM_LKAS", -1),
("ERR_BIT_1", "CAM_LKAS", 0),
("LINE_NOT_VISIBLE", "CAM_LKAS", 0),
("BIT_1", "CAM_LKAS", 0),
("ERR_BIT_2", "CAM_LKAS", 0),
("BIT_2", "CAM_LKAS", 0),
("CHKSUM", "CAM_LKAS", 0),
("BIT2", "CAM_LANEINFO", 1),
("NO_ERR_BIT", "CAM_LANEINFO", 1),
("S1", "CAM_LANEINFO", 1),
("S1_NOT", "CAM_LANEINFO", 0),
]
checks = [
# sig_address, frequency
("CAM_LKAS", 16),
#("CAM_LANETRACK", 30),
("CAM_LANEINFO", 4),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, canbus.cam)
def get_can_parser(CP):
signals, checks = get_can_signals(CP)
return CANParser(DBC[CP.carFingerprint]['pt'],
signals,
checks,
0,
timeout=100)
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("GEAR", "GEAR_PACKET", 0),
("BRAKE_PRESSED", "BRAKE_MODULE", 0),
("GAS_PEDAL", "GAS_PEDAL", 0),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
("DOOR_OPEN_FL", "SEATS_DOORS", 1),
("DOOR_OPEN_FR", "SEATS_DOORS", 1),
("DOOR_OPEN_RL", "SEATS_DOORS", 1),
("DOOR_OPEN_RR", "SEATS_DOORS", 1),
("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
("TC_DISABLED", "ESP_CONTROL", 1),
("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
("CRUISE_ACTIVE", "PCM_CRUISE", 0),
("CRUISE_STATE", "PCM_CRUISE", 0),
("MAIN_ON", "PCM_CRUISE_2", 0),
("SET_SPEED", "PCM_CRUISE_2", 0),
("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers
("LKA_STATE", "EPS_STATUS", 0),
("IPAS_STATE", "EPS_STATUS", 1),
("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
]
checks = [
("BRAKE_MODULE", 40),
("GAS_PEDAL", 33),
("WHEEL_SPEEDS", 80),
("STEER_ANGLE_SENSOR", 80),
("PCM_CRUISE", 33),
("PCM_CRUISE_2", 33),
("STEER_TORQUE_SENSOR", 50),
("EPS_STATUS", 25),
]
if CP.carFingerprint in TSS2_CAR:
signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
else:
signals += [("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0)]
if CP.carFingerprint == CAR.PRIUS:
signals += [("STATE", "AUTOPARK_STATUS", 0)]
# add gas interceptor reading if we are using it
if CP.enableGasInterceptor:
signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
checks.append(("GAS_SENSOR", 50))
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
def get_cam_can_parser(CP):
signals = []
# use steering message to check if panda is connected to frc
checks = [("STEERING_LKA", 42)]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
def get_chassis_can_parser(CP, canbus):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("FrictionBrakePressure", "EBCMFrictionBrakeStatus", 0),
]
return CANParser(DBC[CP.carFingerprint]['chassis'], signals, [], canbus.chassis)
def _create_radard_can_parser():
dbc_f = 'ford_fusion_2018_adas.dbc'
msg_n = len(RADAR_MSGS)
signals = zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
RADAR_MSGS * 3, [0] * msg_n + [0] * msg_n + [0] * msg_n)
checks = zip(RADAR_MSGS, [20] * msg_n)
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
def _create_radar_can_parser(car_fingerprint):
dbc_f = DBC[car_fingerprint]['radar']
msg_n = len(RADAR_MSGS)
signals = list(
zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
RADAR_MSGS * 3, [0] * msg_n + [0] * msg_n + [0] * msg_n))
checks = list(zip(RADAR_MSGS, [20] * msg_n))
return CANParser(dbc_f, signals, checks, 1)
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
if CP.carFingerprint == CAR.PRIUS:
dbc_f = 'toyota_prius_2017_pt.dbc'
signals = [
("GEAR", 295, 0),
("BRAKE_PRESSED", 550, 0),
("GAS_PEDAL", 581, 0),
]
checks = [(550, 40), (581, 33)]
elif CP.carFingerprint == CAR.RAV4:
dbc_f = 'toyota_rav4_2017_pt.dbc'
signals = [
("GEAR", 956, 0x20),
("BRAKE_PRESSED", 548, 0),
("GAS_PEDAL", 705, 0),
]
checks = [(548, 40), (705, 33)]
# TODO: DOORS, GAS_PEDAL, BRAKE_PRESSED for RAV4
signals += [
# sig_name, sig_address, default
("WHEEL_SPEED_FL", 170, 0),
("WHEEL_SPEED_FR", 170, 0),
("WHEEL_SPEED_RL", 170, 0),
("WHEEL_SPEED_RR", 170, 0),
("DOOR_OPEN_FL", 1568, 1),
("DOOR_OPEN_FR", 1568, 1),
("DOOR_OPEN_RL", 1568, 1),
("DOOR_OPEN_RR", 1568, 1),
("SEATBELT_DRIVER_UNLATCHED", 1568, 1),
("TC_DISABLED", 951, 1),
("STEER_ANGLE", 37, 0),
("STEER_FRACTION", 37, 0),
("STEER_RATE", 37, 0),
("GAS_RELEASED", 466, 0),
("CRUISE_STATE", 466, 0),
("MAIN_ON", 467, 0),
("SET_SPEED", 467, 0),
("LOW_SPEED_LOCKOUT", 467, 0),
("STEER_TORQUE_DRIVER", 608, 0),
("STEER_TORQUE_EPS", 608, 0),
("TURN_SIGNALS", 1556, 3), # 3 is no blinkers
("LKA_STATE", 610, 0),
("BRAKE_LIGHTS_ACC", 951, 0),
]
checks += [
(170, 80),
(37, 80),
(466, 33),
(467, 33),
(608, 50),
(610, 25),
]
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 0)
def get_can_parser(CP): #2018.09.04 combine in above
signals, checks = get_can_signals(CP) #2018.09.06 add two argument
#canbus.powertrain is can 0 (bus 0)
# print ("carstate.py signals")
#print (signals)
# print (checks)
#print("carstate.py")
# print(DBC[CP.carFingerprint]['pt'])
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks,
0) #2018.09.06 4:37PM change canbuspowertrain to 0
def _create_radard_can_parser():
dbc_f = 'toyota_prius_2017_adas.dbc'
msg_n = len(RADAR_MSGS)
signals = zip(['LONG_DIST'] * msg_n + ['NEW_TRACK'] * msg_n + ['LAT_DIST'] * msg_n +
['REL_SPEED'] * msg_n + ['VALID'] * msg_n,
RADAR_MSGS * 5,
[255] * msg_n + [1] * msg_n + [0] * msg_n + [0] * msg_n + [0] * msg_n)
checks = zip(RADAR_MSGS, [20]*msg_n)
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
def _create_nidec_can_parser():
dbc_f = 'acura_ilx_2016_nidec.dbc'
radar_messages = [0x400] + range(0x430, 0x43A) + range(0x440, 0x446)
signals = zip(['RADAR_STATE'] + ['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 +
['LAT_DIST'] * 16 + ['REL_SPEED'] * 16,
[0x400] + radar_messages[1:] * 4,
[0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16)
checks = zip([0x445], [20])
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
def get_cam_can_parser(CP):
signals = []
# all hondas except CRV, RDX and 2019 Odyssey@China use 0xe4 for steering
checks = [(0xe4, 100)]
if CP.carFingerprint in [CAR.CRV, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
checks = [(0x194, 100)]
bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH and not CP.isPandaBlack else 2
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_cam)
def get_cam_can_parser(CP):
signals = []
# all hondas except CRV and RDX use 0xe4 for steering
checks = [(0xe4, 100)]
if CP.carFingerprint in [CAR.CRV, CAR.ACURA_RDX]:
checks = [(0x194, 100)]
cam_bus = 1 if CP.carFingerprint in HONDA_BOSCH else 2
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, cam_bus)
def get_camera_parser(CP):
signals = [
# sig_name, sig_address, default
# TODO read in all the other values
("COUNTER", "LKAS_COMMAND", -1),
("CAR_MODEL", "LKAS_HUD", -1),
("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
]
checks = []
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
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 _create_radard_can_parser():
dbc_f = 'toyota_prius_2017_adas.dbc'
radar_messages = range(0x210, 0x220)
msg_n = len(radar_messages)
msg_last = radar_messages[-1]
signals = zip(
['LONG_DIST'] * msg_n + ['NEW_TRACK'] * msg_n + ['LAT_DIST'] * msg_n +
['REL_SPEED'] * msg_n + ['VALID'] * msg_n, radar_messages * 5,
[255] * msg_n + [1] * msg_n + [0] * msg_n + [0] * msg_n + [0] * msg_n)
checks = zip(radar_messages, [20] * msg_n)
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
def get_cam_can_parser(CP):
signals = []
# all hondas except CRV and RDX use 0xe4 for steering
checks = [(0xe4, 100)]
#if CP.carFingerprint in [CAR.CRV, CAR.ACURA_RDX]:
# checks = [(0x194, 100)]
# cam_bus = 1 if CP.carFingerprint in HONDA_BOSCH else 2
cam_bus = 2 # le macchina envoie sur le bus 2 du panda l'id 0xe4
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, cam_bus)
def get_radar_can_parser(CP):
signals = [
# sig_name, sig_address, default
("ACC_ObjStatus", "SCC11", 0),
("ACC_ObjLatPos", "SCC11", 0),
("ACC_ObjDist", "SCC11", 0),
("ACC_ObjRelSpd", "SCC11", 0),
]
checks = [
# address, frequency
("SCC11", 50),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("GEAR", "GEAR_PACKET", 0),
("BRAKE_PRESSED", "BRAKE_MODULE", 0),
("GAS_PEDAL", "GAS_PEDAL", 0),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
("DOOR_OPEN_FL", "SEATS_DOORS", 1),
("DOOR_OPEN_FR", "SEATS_DOORS", 1),
("DOOR_OPEN_RL", "SEATS_DOORS", 1),
("DOOR_OPEN_RR", "SEATS_DOORS", 1),
("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
("TC_DISABLED", "ESP_CONTROL", 1),
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
("GAS_RELEASED", "PCM_CRUISE", 0),
("CRUISE_STATE", "PCM_CRUISE", 0),
("MAIN_ON", "PCM_CRUISE_2", 0),
("SET_SPEED", "PCM_CRUISE_2", 0),
("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers
("LKA_STATE", "EPS_STATUS", 0),
("IPAS_STATE", "EPS_STATUS", 1),
("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
]
checks = [
("BRAKE_MODULE", 40),
("GAS_PEDAL", 33),
("WHEEL_SPEEDS", 80),
("STEER_ANGLE_SENSOR", 80),
("PCM_CRUISE", 33),
("PCM_CRUISE_2", 33),
("STEER_TORQUE_SENSOR", 50),
("EPS_STATUS", 25),
]
if CP.carFingerprint in [CAR.PRIUS, CAR.PRIUS_PRIME]:
signals += [("STATE", "AUTOPARK_STATUS", 0)]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
