38 lines
1.7 KiB
Python
38 lines
1.7 KiB
Python
"""
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Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
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"""
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from enum import StrEnum
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from iqdbc.car import Bus, structs
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from iqdbc.car.common.conversions import Conversions as CV
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from iqdbc.car.honda.values import HONDA_BOSCH, HONDA_BOSCH_CANFD, HONDA_BOSCH_RADARLESS
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from iqdbc.can.parser import CANParser
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from iqdbc.lvbs.car.honda.iq_values import HondaFlagsIQ
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class IQCarState:
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def __init__(self, CP, CP_IQ):
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self.CP = CP
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self.CP_IQ = CP_IQ
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def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]) -> None:
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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_IQ.flags & HondaFlagsIQ.HAS_CAMERA_MESSAGES:
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speed_bus = cp if (self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_BOSCH_CANFD)) else cp_cam
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speed_limit_raw = speed_bus.vl["CAMERA_MESSAGES"]["SPEED_LIMIT_SIGN"] % 32
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ret_iq.speedLimit = speed_limit_raw * 5.0 * CV.MPH_TO_MS if (1 <= speed_limit_raw <= 17) else 0.0
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if self.CP_IQ.flags & HondaFlagsIQ.NIDEC_HYBRID:
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ret.accFaulted = bool(cp.vl["HYBRID_BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["HYBRID_BRAKE_ERROR"]["BRAKE_ERROR_2"])
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ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE_HYBRID"] > 1e-5)
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if self.CP_IQ.flags & HondaFlagsIQ.HYBRID_ALT_BRAKEHOLD:
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ret.brakeHoldActive = cp.vl["BRAKE_HOLD_HYBRID_ALT"]["BRAKE_HOLD_ACTIVE"] == 1
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if self.CP_IQ.enableGasInterceptor:
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# Same threshold as panda, equivalent to 1e-5 with previous DBC scaling
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gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
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ret.gasPressed = gas > 492
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