openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/car/body/carstate.py

@@ -0,0 +1,40 @@
+from cereal import car
+from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.body.values import DBC
+
+STARTUP_TICKS = 100
+
+class CarState(CarStateBase):
+  def update(self, cp):
+    ret = car.CarState.new_message()
+
+    ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']
+    ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R']
+
+    ret.vEgoRaw = ((ret.wheelSpeeds.fl + ret.wheelSpeeds.fr) / 2.) * self.CP.wheelSpeedFactor
+
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = False
+
+    ret.steerFaultPermanent = any([cp.vl['VAR_VALUES']['MOTOR_ERR_L'], cp.vl['VAR_VALUES']['MOTOR_ERR_R'],
+                                   cp.vl['VAR_VALUES']['FAULT']])
+
+    ret.charging = cp.vl["BODY_DATA"]["CHARGER_CONNECTED"] == 1
+    ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100
+
+    # irrelevant for non-car
+    ret.gearShifter = car.CarState.GearShifter.drive
+    ret.cruiseState.enabled = True
+    ret.cruiseState.available = True
+
+    return ret
+
+  @staticmethod
+  def get_can_parser(CP):
+    messages = [
+      ("MOTORS_DATA", 100),
+      ("VAR_VALUES", 10),
+      ("BODY_DATA", 1),
+    ]
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)