github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
171 lines
7.1 KiB
Python
171 lines
7.1 KiB
Python
from opendbc.can import CANDefine, CANParser
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from opendbc.car import Bus, create_button_events, structs
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from opendbc.car.chrysler.values import CUSW_CARS, DBC, STEER_THRESHOLD, RAM_CARS
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from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.interfaces import CarStateBase
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from opendbc.sunnypilot.car.chrysler.carstate_ext import CarStateExt
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from opendbc.sunnypilot.car.chrysler.mads import MadsCarState
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ButtonType = structs.CarState.ButtonEvent.Type
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class CarState(CarStateBase, MadsCarState, CarStateExt):
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def __init__(self, CP, CP_SP):
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CarStateBase.__init__(self, CP, CP_SP)
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MadsCarState.__init__(self, CP, CP_SP)
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CarStateExt.__init__(self, CP, CP_SP)
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self.CP = CP
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can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
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self.auto_high_beam = 0
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self.button_counter = 0
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self.lkas_car_model = -1
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if CP.carFingerprint in RAM_CARS:
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self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"]
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else:
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self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
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self.distance_button = 0
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def update(self, can_parsers) -> tuple[structs.CarState, structs.CarStateSP]:
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cp = can_parsers[Bus.pt]
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cp_cam = can_parsers[Bus.cam]
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if self.CP.carFingerprint in CUSW_CARS:
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return self.update_cusw(cp, cp_cam)
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ret = structs.CarState()
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ret_sp = structs.CarStateSP()
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prev_distance_button = self.distance_button
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self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
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# lock info
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ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
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cp.vl["BCM_1"]["DOOR_OPEN_FR"],
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cp.vl["BCM_1"]["DOOR_OPEN_RL"],
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cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
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ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1
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# brake pedal
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ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1 # Physical brake pedal switch
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# gas pedal
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ret.gasPressed = cp.vl["ECM_5"]["Accelerator_Position"] > 1e-5
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# car speed
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if self.CP.carFingerprint in RAM_CARS:
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ret.vEgoRaw = cp.vl["ESP_8"]["Vehicle_Speed"] * CV.KPH_TO_MS
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["Transmission_Status"]["Gear_State"], None))
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else:
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ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = not ret.vEgoRaw > 0.001
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# button presses
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ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(200, cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1,
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cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2)
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ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
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# steering wheel
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ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"] + cp.vl["STEERING"]["STEERING_ANGLE_HP"]
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ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
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ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
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ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
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ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
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# cruise state
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cp_cruise = cp_cam if self.CP.carFingerprint in RAM_CARS else cp
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ret.cruiseState.available = cp_cruise.vl["DAS_3"]["ACC_AVAILABLE"] == 1
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ret.cruiseState.enabled = cp_cruise.vl["DAS_3"]["ACC_ACTIVE"] == 1
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ret.cruiseState.speed = cp_cruise.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS
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ret.cruiseState.nonAdaptive = cp_cruise.vl["DAS_4"]["ACC_STATE"] in (1, 2) # 1 NormalCCOn and 2 NormalCCSet
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ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1
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ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
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if self.CP.carFingerprint in RAM_CARS:
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# Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
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self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']
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ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
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else:
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ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1
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ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
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# blindspot sensors
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if self.CP.enableBsm:
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ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
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ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
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self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
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self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
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MadsCarState.update_mads(self, ret, can_parsers)
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CarStateExt.update(self, ret, ret_sp, can_parsers)
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ret.buttonEvents = [
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*create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise}),
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*create_button_events(self.lkas_button, self.prev_lkas_button, {1: ButtonType.lkas}),
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*self.button_events,
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]
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return ret, ret_sp
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def update_cusw(self, cp, cp_cam):
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ret = structs.CarState()
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ret_sp = structs.CarStateSP()
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ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"],
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cp.vl["DOORS"]["DOOR_OPEN_FR"],
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cp.vl["DOORS"]["DOOR_OPEN_RL"],
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cp.vl["DOORS"]["DOOR_OPEN_RR"]])
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ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"])
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ret.brakePressed = bool(cp.vl["BRAKE_3"]["DRIVER_BRAKE_SWITCH"])
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ret.gasPressed = cp.vl["ACCEL_GAS"]["GAS_HUMAN"] > 0
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ret.espDisabled = bool(cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"])
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ret.vEgoRaw = cp.vl["BRAKE_1"]["VEHICLE_SPEED"]
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = not ret.vEgoRaw > 0.001
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self.parse_wheel_speeds(ret,
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cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"],
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cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"],
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cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"],
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cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FR"],
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unit=1,
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)
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ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
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ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
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ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
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ret.cruiseState.speed = cp.vl["ACC_HUD"]["ACC_SET_SPEED_KMH"] * CV.KPH_TO_MS
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ret.cruiseState.available = bool(cp.vl["ACC_CONTROL"]["ACC_MAIN_ON"])
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ret.cruiseState.enabled = bool(cp.vl["ACC_CONTROL"]["ACC_ACTIVE"])
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ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
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ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
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ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
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ret.steerFaultPermanent = bool(cp.vl["EPS_STATUS"]["LKAS_FAULT"])
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if self.CP.enableBsm:
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ret.leftBlindspot = bool(cp.vl["BSM_LEFT"]["LEFT_DETECTED"])
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ret.rightBlindspot = bool(cp.vl["BSM_RIGHT"]["RIGHT_DETECTED"])
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self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
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return ret, ret_sp
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@staticmethod
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def get_can_parsers(CP, CP_SP):
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return {
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Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 0),
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Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
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}
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