openpilot v0.9.6 release

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

selfdrive/car/tesla/carstate.py

@@ -0,0 +1,125 @@
+import copy
+from collections import deque
+from cereal import car
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from opendbc.can.parser import CANParser
+from opendbc.can.can_define import CANDefine
+
+class CarState(CarStateBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    self.button_states = {button.event_type: False for button in BUTTONS}
+    self.can_define = CANDefine(DBC[CP.carFingerprint]['chassis'])
+
+    # Needed by carcontroller
+    self.msg_stw_actn_req = None
+    self.hands_on_level = 0
+    self.steer_warning = None
+    self.acc_state = 0
+    self.das_control_counters = deque(maxlen=32)
+
+  def update(self, cp, cp_cam):
+    ret = car.CarState.new_message()
+
+    # Vehicle speed
+    ret.vEgoRaw = cp.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = (ret.vEgo < 0.1)
+
+    # Gas pedal
+    ret.gas = cp.vl["DI_torque1"]["DI_pedalPos"] / 100.0
+    ret.gasPressed = (ret.gas > 0)
+
+    # Brake pedal
+    ret.brake = 0
+    ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1)
+
+    # Steering wheel
+    self.hands_on_level = cp.vl["EPAS_sysStatus"]["EPAS_handsOnLevel"]
+    self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacErrorCode"]), None)
+    steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacStatus"]), None)
+
+    ret.steeringAngleDeg = -cp.vl["EPAS_sysStatus"]["EPAS_internalSAS"]
+    ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate
+    ret.steeringTorque = -cp.vl["EPAS_sysStatus"]["EPAS_torsionBarTorque"]
+    ret.steeringPressed = (self.hands_on_level > 0)
+    ret.steerFaultPermanent = steer_status == "EAC_FAULT"
+    ret.steerFaultTemporary = (self.steer_warning not in ("EAC_ERROR_IDLE", "EAC_ERROR_HANDS_ON"))
+
+    # Cruise state
+    cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp.vl["DI_state"]["DI_cruiseState"]), None)
+    speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp.vl["DI_state"]["DI_speedUnits"]), None)
+
+    acc_enabled = (cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL"))
+
+    ret.cruiseState.enabled = acc_enabled
+    if speed_units == "KPH":
+      ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.KPH_TO_MS
+    elif speed_units == "MPH":
+      ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.MPH_TO_MS
+    ret.cruiseState.available = ((cruise_state == "STANDBY") or ret.cruiseState.enabled)
+    ret.cruiseState.standstill = False # This needs to be false, since we can resume from stop without sending anything special
+
+    # Gear
+    ret.gearShifter = GEAR_MAP[self.can_define.dv["DI_torque2"]["DI_gear"].get(int(cp.vl["DI_torque2"]["DI_gear"]), "DI_GEAR_INVALID")]
+
+    # Buttons
+    buttonEvents = []
+    for button in BUTTONS:
+      state = (cp.vl[button.can_addr][button.can_msg] in button.values)
+      if self.button_states[button.event_type] != state:
+        event = car.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = state
+        buttonEvents.append(event)
+      self.button_states[button.event_type] = state
+    ret.buttonEvents = buttonEvents
+
+    # Doors
+    ret.doorOpen = any((self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS)
+
+    # Blinkers
+    ret.leftBlinker = (cp.vl["GTW_carState"]["BC_indicatorLStatus"] == 1)
+    ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1)
+
+    # Seatbelt
+    ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
+
+    # TODO: blindspot
+
+    # AEB
+    ret.stockAeb = (cp_cam.vl["DAS_control"]["DAS_aebEvent"] == 1)
+
+    # Messages needed by carcontroller
+    self.msg_stw_actn_req = copy.copy(cp.vl["STW_ACTN_RQ"])
+    self.acc_state = cp_cam.vl["DAS_control"]["DAS_accState"]
+    self.das_control_counters.extend(cp_cam.vl_all["DAS_control"]["DAS_controlCounter"])
+
+    return ret
+
+  @staticmethod
+  def get_can_parser(CP):
+    messages = [
+      # sig_address, frequency
+      ("ESP_B", 50),
+      ("DI_torque1", 100),
+      ("DI_torque2", 100),
+      ("STW_ANGLHP_STAT", 100),
+      ("EPAS_sysStatus", 25),
+      ("DI_state", 10),
+      ("STW_ACTN_RQ", 10),
+      ("GTW_carState", 10),
+      ("SDM1", 10),
+      ("BrakeMessage", 50),
+    ]
+    return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis)
+
+  @staticmethod
+  def get_cam_can_parser(CP):
+    messages = [
+      # sig_address, frequency
+      ("DAS_control", 40),
+    ]
+    return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis)