openpilot1/selfdrive/car/body/carstate.py

from cereal import car, custom
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, frogpilot_toggles):
    ret = car.CarState.new_message()
    fp_ret = custom.FrogPilotCarState.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, fp_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)