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structs: add lkasEnabled and lkasDisabled (#1317) 

* add lkasEnabled and lkasDisabled

* not sure
This commit is contained in:
Shane Smiskol 2024-10-01 17:12:04 -07:00 committed by GitHub
parent bed4c18a95
commit 3e239def4b
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3 changed files with 7 additions and 4 deletions
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4
opendbc/car/mazda/carstate.py
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@ -19,7 +19,6 @@ class CarState(CarStateBase):
self.acc_active_last = False self.acc_active_last = False
self.low_speed_alert = False self.low_speed_alert = False
self.lkas_allowed_speed = False self.lkas_allowed_speed = False
self.lkas_disabled = False
self.distance_button = 0 self.distance_button = 0
@ -107,7 +106,8 @@ class CarState(CarStateBase):
self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"] self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
# camera signals # camera signals
self.lkas_disabled = cp_cam.vl["CAM_LANEINFO"]["LANE_LINES"] == 0 # TODO: is this needed anymore?
ret.lkasDisabled = cp_cam.vl["CAM_LANEINFO"]["LANE_LINES"] == 0
self.cam_lkas = cp_cam.vl["CAM_LKAS"] self.cam_lkas = cp_cam.vl["CAM_LKAS"]
self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"] self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1 ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1

5
opendbc/car/nissan/carstate.py
View File

@ -109,10 +109,11 @@ class CarState(CarStateBase):
can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"]) can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
# TODO: is this needed anymore?
if self.CP.carFingerprint == CAR.NISSAN_ALTIMA: if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"]) ret.lkasEnabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
else: else:
self.lkas_enabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"]) ret.lkasEnabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"]) self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])

2
opendbc/car/structs.py
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@ -75,6 +75,8 @@ class CarState:
steeringPressed: bool = auto_field() # if the user is using the steering wheel steeringPressed: bool = auto_field() # if the user is using the steering wheel
steerFaultTemporary: bool = auto_field() # temporary EPS fault steerFaultTemporary: bool = auto_field() # temporary EPS fault
steerFaultPermanent: bool = auto_field() # permanent EPS fault steerFaultPermanent: bool = auto_field() # permanent EPS fault
lkasDisabled: bool = auto_field() # LKAS being enabled is required to control car
lkasEnabled: bool = auto_field() # LKAS being disabled is required to control car
stockAeb: bool = auto_field() stockAeb: bool = auto_field()
stockFcw: bool = auto_field() stockFcw: bool = auto_field()
espDisabled: bool = auto_field() espDisabled: bool = auto_field()