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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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54
selfdrive/car/honda/carstate.py
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@@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.common.numpy_fast import interp
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus
from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
HondaFlags
@@ -64,7 +64,7 @@ def get_can_messages(CP, gearbox_msg):
messages.append(("CRUISE_PARAMS", 50))
# TODO: clean this up
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
if CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
pass
elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
@@ -131,7 +131,7 @@ class CarState(CarStateBase):
# panda checks if the signal is non-zero
ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
# TODO: find a common signal across all cars
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
if self.CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
@@ -208,6 +208,10 @@ class CarState(CarStateBase):
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
if self.CP.carFingerprint in HONDA_BOSCH:
# The PCM always manages its own cruise control state, but doesn't publish it
if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
if not self.CP.openpilotLongitudinalControl:
# ACC_HUD is on camera bus on radarless cars
acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
@@ -268,40 +272,17 @@ class CarState(CarStateBase):
ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
# Driving personalities function
if frogpilot_variables.personalities_via_wheel and ret.cruiseState.available:
# Sync with the onroad UI button
if self.fpf.personality_changed_via_ui:
self.personality_profile = self.fpf.current_personality
self.previous_personality_profile = self.personality_profile
self.fpf.reset_personality_changed_param()
self.prev_distance_button = self.distance_button
self.distance_button = self.cruise_setting == 3
# Change personality upon steering wheel button press
distance_button = self.cruise_setting == 3
if distance_button and not self.distance_previously_pressed:
self.personality_profile = (self.previous_personality_profile + 2) % 3
self.distance_previously_pressed = distance_button
if self.personality_profile != self.previous_personality_profile:
self.fpf.distance_button_function(self.personality_profile)
self.previous_personality_profile = self.personality_profile
# Toggle Experimental Mode from steering wheel function
if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
lkas_pressed = self.cruise_setting == 1
if lkas_pressed and not self.lkas_previously_pressed:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_lkas()
else:
self.fpf.update_experimental_mode()
self.lkas_previously_pressed = lkas_pressed
self.lkas_previously_enabled = self.lkas_enabled
self.lkas_enabled = self.cruise_setting == 1
return ret
def get_can_parser(self, CP):
messages = get_can_messages(CP, self.gearbox_msg)
return CANParser(DBC[CP.carFingerprint]["pt"], messages, get_pt_bus(CP.carFingerprint))
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).pt)
@staticmethod
def get_cam_can_parser(CP):
@@ -310,9 +291,10 @@ class CarState(CarStateBase):
]
if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
messages.append(("LKAS_HUD", 10))
if not CP.openpilotLongitudinalControl:
messages.append(("ACC_HUD", 10))
messages += [
("ACC_HUD", 10),
("LKAS_HUD", 10),
]
elif CP.carFingerprint not in HONDA_BOSCH:
messages += [
@@ -321,7 +303,7 @@ class CarState(CarStateBase):
("BRAKE_COMMAND", 50),
]
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).camera)
@staticmethod
def get_body_can_parser(CP):
@@ -330,6 +312,6 @@ class CarState(CarStateBase):
("BSM_STATUS_LEFT", 3),
("BSM_STATUS_RIGHT", 3),
]
bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
bus_body = CanBus(CP).radar # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
return CANParser(DBC[CP.carFingerprint]["body"], messages, bus_body)
return None