Release 260111

opendbc_repo/opendbc/car/body/carstate.py

@@ -0,0 +1,35 @@
+from opendbc.can import CANParser
+from opendbc.car import Bus, structs
+from opendbc.car.interfaces import CarStateBase
+from opendbc.car.body.values import DBC
+
+
+class CarState(CarStateBase):
+  def update(self, can_parsers) -> structs.CarState:
+    cp = can_parsers[Bus.main]
+    ret = structs.CarState()
+
+    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 = structs.CarState.GearShifter.drive
+    ret.cruiseState.enabled = True
+    ret.cruiseState.available = True
+
+    return ret
+
+  @staticmethod
+  def get_can_parsers(CP):
+    return {Bus.main: CANParser(DBC[CP.carFingerprint][Bus.main], [], 0)}