openpilot v0.4.1 release

README.md

@@ -29,6 +29,9 @@ Supported Cars
 - Honda CR-V Touring 2015-2016
   - Can only be enabled above 25 mph
 
+- Honda Odyssey 2018 with Honda Sensing (alpha!)
+  - Can only be enabled above 25 mph
+
 - Toyota RAV-4 2016+ non-hybrid with TSS-P
   - By default it uses stock Toyota ACC for longitudinal control
   - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can be enabled above 20 mph
@@ -42,6 +45,10 @@ Supported Cars
   - By default it uses stock Toyota ACC for longitudinal control
   - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can do stop and go
 
+- Toyota Corolla 2017 (alpha!)
+  - By default it uses stock Toyota ACC for longitudinal control
+  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Corolla_.28for_openpilot.29) and can be enabled above 20 mph
+
 In Progress Cars
 ------
 - Probably all TSS-P Toyota with Steering Assist.
@@ -55,8 +62,6 @@ Community WIP Cars
 
 - [Classic Tesla Model S (pre-AP)](https://github.com/commaai/openpilot/pull/145)
 
-- [Honda Odyssey 2018 with Honda Sensing](https://github.com/commaai/openpilot/pull/155)
-
 - [Honda Pilot 2017 with Honda Sensing](https://github.com/commaai/openpilot/pull/161)
 
 - [Acura RDX 2018 with AcuraWatch Plus](https://github.com/commaai/openpilot/pull/162)
@@ -79,7 +84,6 @@ Directory structure
   - logcatd       -- Android logcat as a service
   - loggerd       -- Logger and uploader of car data
   - proclogd      -- Logs information from proc
-  - radar         -- Code that talks to the radar and implements RadarInterface
   - sensord       -- IMU / GPS interface code
   - test/plant    -- Car simulator running code through virtual maneuvers
   - ui            -- The UI

cereal/car.capnp

@@ -97,6 +97,11 @@ struct CarState {
   buttonEvents @11 :List(ButtonEvent);
   leftBlinker @20 :Bool;
   rightBlinker @21 :Bool;
+  genericToggle @23 :Bool;
+
+  # lock info
+  doorOpen @24 :Bool;
+  seatbeltUnlatched @25 :Bool;
 
   # which packets this state came from
   canMonoTimes @12: List(UInt64);
@@ -250,7 +255,7 @@ struct CarControl {
 
 struct CarParams {
   carName @0 :Text;
-  radarName @1 :Text;
+  radarNameDEPRECATED @1 :Text;
   carFingerprint @2 :Text;
 
   enableSteer @3 :Bool;
@@ -263,6 +268,7 @@ struct CarParams {
 
   minEnableSpeed @17 :Float32;
   safetyModel @18 :Int16;
+  safetyParam @41 :Int16;
 
   steerMaxBP @19 :List(Float32);
   steerMaxV @20 :List(Float32);

cereal/log.capnp

@@ -573,6 +573,16 @@ struct LiveLocationData {
 
   accuracy @13 :Accuracy;
 
+  source @14 :SensorSource;
+  # if we are fixing a location in the past
+  fixMonoTime @15 :UInt64;
+  
+  gpsWeek @16 :Int32;
+  timeOfWeek @17 :Float64;
+
+  positionECEF @18 :List(Float64);
+  poseQuatECEF @19 :List(Float32);
+
   struct Accuracy {
     pNEDError @0 :List(Float32);
     vNEDError @1 :List(Float32);
@@ -583,6 +593,13 @@ struct LiveLocationData {
     ellipsoidSemiMinorError @6 :Float32;
     ellipsoidOrientationError @7 :Float32;
   }
+
+  enum SensorSource {
+    applanix @0;
+    kalman @1;
+    orbslam @2;
+    timing @3;
+  }
 }
 
 struct EthernetPacket {
@@ -1331,6 +1348,34 @@ struct GPSPlannerPlan {
   valid @0 :Bool;
   poly @1 :List(Float32);
   trackName @2 :Text;
+  speed @3 :Float32;
+}
+
+struct TrafficSigns {
+  type @0 :Type;
+  distance @1 :Float32;
+  action @2 :Action;
+  resuming @3 :Bool;
+
+  enum Type {
+    light @0;
+  }
+
+  enum Action {
+    none @0;
+    yield @1;
+    stop @2;
+  }
+
+}
+
+struct OrbslamCorrection {
+  correctionMonoTime @0 :UInt64;
+  prePositionECEF @1 :List(Float64);
+  postPositionECEF @2 :List(Float64);
+  prePoseQuatECEF @3 :List(Float32);
+  postPoseQuatECEF @4 :List(Float32);
+  numInliers @5 :UInt32;
 }
 
 struct Event {
@@ -1379,5 +1424,10 @@ struct Event {
     ubloxRaw @39 :Data;
     gpsPlannerPoints @40 :GPSPlannerPoints;
     gpsPlannerPlan @41 :GPSPlannerPlan;
+    applanixRaw @42 :Data;
+    trafficSigns @43 :List(TrafficSigns);
+    liveLocationTiming @44 :LiveLocationData;
+    orbslamCorrection @45 :OrbslamCorrection;
+    liveLocationCorrected @46 :LiveLocationData;
   }
 }

common/dbc.py

@@ -2,6 +2,8 @@ import re
 import os
 import struct
 import bitstring
+import sys
+import numbers
 from collections import namedtuple
 
 def int_or_float(s):
@@ -49,6 +51,8 @@ class dbc(object):
         name = dat.group(2)
         size = int(dat.group(3))
         ids = int(dat.group(1), 0) # could be hex
+        if ids in self.msgs:
+          sys.exit("Duplicate address detected %d %s" % (ids, self.name))
 
         self.msgs[ids] = ((name, size), [])
 
@@ -80,6 +84,16 @@ class dbc(object):
     for msg in self.msgs.viewvalues():
       msg[1].sort(key=lambda x: x.start_bit)
 
+    self.msg_name_to_address = {}
+    for address, m in self.msgs.items():
+      name = m[0][0]
+      self.msg_name_to_address[name] = address
+
+  def lookup_msg_id(self, msg_id):
+    if not isinstance(msg_id, numbers.Number):
+      msg_id = self.msg_name_to_address[msg_id]
+    return msg_id
+
   def encode(self, msg_id, dd):
     """Encode a CAN message using the dbc.
 
@@ -87,6 +101,8 @@ class dbc(object):
         msg_id: The message ID.
         dd: A dictionary mapping signal name to signal data.
     """
+    msg_id = self.lookup_msg_id(msg_id)
+
     # TODO: Stop using bitstring, which is super slow.
     msg_def = self.msgs[msg_id]
     size = msg_def[0][1]
@@ -134,7 +150,7 @@ class dbc(object):
 
         Returns (None, None) if the message could not be decoded.
     """
-    
+
     if arr is None:
       out = {}
     else:
@@ -193,10 +209,10 @@ class dbc(object):
         out[arr.index(s[0])] = ival
     return name, out
 
-
   def get_signals(self, msg):
+    msg = self.lookup_msg_id(msg)
     return [sgs.name for sgs in self.msgs[msg][1]]
-    
+
 if __name__ == "__main__":
    import sys
    import os

common/fingerprints.py

@@ -1,33 +1,57 @@
-import os
+class HONDA:
+  CIVIC = "HONDA CIVIC 2016 TOURING"
+  ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
+  CRV = "HONDA CR-V 2016 TOURING"
+  ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
+
+
+class TOYOTA:
+  PRIUS = "TOYOTA PRIUS 2017"
+  RAV4H = "TOYOTA RAV4 2017 HYBRID"
+  RAV4 = "TOYOTA RAV4 2017"
+  COROLLA = "TOYOTA COROLLA 2017"
+
 
 _FINGERPRINTS = {
-  "ACURA ILX 2016 ACURAWATCH PLUS": {
+  HONDA.ACURA_ILX: {
     1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5,
     # sent messages
     0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5,
   },
-  "HONDA CIVIC 2016 TOURING": {
+  HONDA.CIVIC: {
     1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
     # sent messages
     0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
   },
-  "HONDA CR-V 2016 TOURING": {
+  HONDA.CRV: {
     57L: 3, 145L: 8, 316L: 8, 340L: 8, 342L: 6, 344L: 8, 380L: 8, 398L: 3, 399L: 6, 401L: 8, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 493L: 3, 507L: 1, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 661L: 4, 773L: 7, 777L: 8, 800L: 8, 804L: 8, 808L: 8, 882L: 2, 884L: 7, 888L: 8, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8,
     # sent messages
     0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
   },
-  "HONDA ODYSSEY 2018 EX-L": {
+  HONDA.ODYSSEY: {
     57L: 3, 148L: 8, 228L: 5, 229L: 4, 316L: 8, 342L: 6, 344L: 8, 380L: 8, 399L: 7, 411L: 5, 419L: 8, 420L: 8, 427L: 3, 432L: 7, 450L: 8, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 542L: 7, 545L: 6, 597L: 8, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 817L: 4, 819L: 7, 821L: 5, 825L: 4, 829L: 5, 837L: 5, 856L: 7, 862L: 8, 871L: 8, 881L: 8, 882L: 4, 884L: 8, 891L: 8, 892L: 8, 905L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1029L: 8, 1036L: 8, 1052L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1092L: 1, 1108L: 8, 1110L: 8, 1125L: 8, 1296L: 8, 1302L: 8, 1600L: 5, 1601L: 8, 1612L: 5, 1613L: 5, 1614L: 5, 1615L: 8, 1616L: 5, 1619L: 5, 1623L: 5, 1668L: 5
   },
-  "TOYOTA RAV4 2017": {
+  TOYOTA.RAV4: {
     36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
   },
-  "TOYOTA RAV4 2017 HYBRID": {
+  TOYOTA.RAV4H: {
    36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 8, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8, 581L: 5, 296: 8, 552L: 8, 560L: 7, 552L: 4, 713L: 8, 550L: 8, 608L: 8, 37L: 8, 36L: 8, 950L: 8, 1198L: 8, 1197L: 8, 1199L: 8, 1212L: 8, 953L: 3, 1264L: 8, 1184L: 8, 1005L: 2, 1185L: 8, 1232L: 8, 1186L: 8
  },
-  "TOYOTA PRIUS 2017": {
+  TOYOTA.PRIUS: [{
     36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 863L: 8, 869L: 7, 870L: 7, 871L: 2, 898L: 8, 900L: 6, 902L: 6, 905L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
   },
+  # Prius Prime
+  {
+    36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 824L: 2, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 863L: 8, 869L: 7, 870L: 7, 871L: 2,898L: 8, 900L: 6, 902L: 6, 905L: 8, 913L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 974L: 8, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1076L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1164L: 8, 1165L: 8, 1166L: 8, 1167L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
+  },
+  # Taiwanese Prius Prime
+  {
+    36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 824L: 2, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 863L: 8, 869L: 7, 870L: 7, 871L: 2,898L: 8, 900L: 6, 902L: 6, 905L: 8, 913L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 974L: 8, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1076L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1164L: 8, 1165L: 8, 1166L: 8, 1167L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
+  }
+  ],
+  TOYOTA.COROLLA: {
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 2, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1196: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
 }
 
 # support additional internal only fingerprints
@@ -37,6 +61,12 @@ try:
 except ImportError:
   pass
 
+
+def is_valid_for_fingerprint(msg, car_fingerprint):
+  adr = msg.address
+  return msg.src != 0 or (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat))
+
+
 def eliminate_incompatible_cars(msg, candidate_cars):
   """Removes cars that could not have sent msg.
 
@@ -49,16 +79,18 @@ def eliminate_incompatible_cars(msg, candidate_cars):
   """
   compatible_cars = []
   for car_name in candidate_cars:
-    adr = msg.address
-    if msg.src != 0 or (adr in _FINGERPRINTS[car_name] and
-                        _FINGERPRINTS[car_name][adr] == len(msg.dat)):
-      compatible_cars.append(car_name)
-    else:
-      pass
-      #isin = adr in _FINGERPRINTS[car_name]
-      #print "eliminate", car_name, hex(adr), isin, len(msg.dat), msg.dat.encode("hex")
+    car_fingerprints = _FINGERPRINTS[car_name]
+    if not isinstance(car_fingerprints, list):
+      car_fingerprints = [car_fingerprints]
+
+    for fingerprint in car_fingerprints:
+      if is_valid_for_fingerprint(msg, fingerprint):
+        compatible_cars.append(car_name)
+        break
+
   return compatible_cars
 
+
 def all_known_cars():
   """Returns a list of all known car strings."""
   return _FINGERPRINTS.keys()

common/numpy_fast.py

@@ -1,3 +1,7 @@
+def int_rnd(x):
+  return int(round(x))
+
+
 def clip(x, lo, hi):
   return max(lo, min(hi, x))
 

requirements_openpilot.txt

@@ -11,5 +11,7 @@ simplejson==3.8.2
 pyyaml==3.12
 cffi==1.7.0
 enum34==1.1.1
+sympy==1.1.1
+filterpy==1.0.0
 smbus2==0.2.0
 -e git+https://github.com/commaai/le_python.git#egg=Logentries

selfdrive/boardd/boardd.cc

@@ -50,6 +50,11 @@ bool loopback_can = false;
 bool has_pigeon = false;
 
 pthread_t safety_setter_thread_handle = -1;
+pthread_t pigeon_thread_handle = -1;
+bool pigeon_needs_init;
+
+void pigeon_init();
+void *pigeon_thread(void *crap);
 
 void *safety_setter_thread(void *s) {
   char *value;
@@ -73,7 +78,8 @@ void *safety_setter_thread(void *s) {
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
 
   auto safety_model = car_params.getSafetyModel();
-  LOGW("setting safety model: %d", safety_model);
+  auto safety_param = car_params.getSafetyParam();
+  LOGW("setting safety model: %d with param %d", safety_model, safety_param);
 
   int safety_setting = 0;
   switch (safety_model) {
@@ -98,18 +104,17 @@ void *safety_setter_thread(void *s) {
   // set in the mutex to avoid race
   safety_setter_thread_handle = -1;
 
-  libusb_control_transfer(dev_handle, 0x40, 0xdc, safety_setting, 0, NULL, 0, TIMEOUT);
+  libusb_control_transfer(dev_handle, 0x40, 0xdc, safety_setting, safety_param, NULL, 0, TIMEOUT);
 
   pthread_mutex_unlock(&usb_lock);
 
   return NULL;
 }
 
-void pigeon_init();
-
 // must be called before threads or with mutex
 bool usb_connect() {
   int err;
+  unsigned char is_pigeon[1] = {0};
 
   dev_handle = libusb_open_device_with_vid_pid(ctx, 0xbbaa, 0xddcc);
   if (dev_handle == NULL) { goto fail; }
@@ -143,9 +148,19 @@ bool usb_connect() {
 
   if (safety_setter_thread_handle == -1) {
     err = pthread_create(&safety_setter_thread_handle, NULL, safety_setter_thread, NULL);
+    assert(err == 0);
   }
 
-  if (has_pigeon) pigeon_init();
+  libusb_control_transfer(dev_handle, 0xc0, 0xc1, 0, 0, is_pigeon, 1, TIMEOUT);
+
+  if (is_pigeon[0]) {
+    LOGW("grey panda detected");
+    pigeon_needs_init = true;
+    if (pigeon_thread_handle == -1) {
+      err = pthread_create(&pigeon_thread_handle, NULL, pigeon_thread, NULL);
+      assert(err == 0);
+    }
+  }
 
   return true;
 fail:
@@ -418,42 +433,72 @@ void *can_health_thread(void *crap) {
 
 #define pigeon_send(x) _pigeon_send(x, sizeof(x)-1)
 
+void hexdump(unsigned char *d, int l) {
+  for (int i = 0; i < l; i++) {
+    if (i!=0 && i%0x10 == 0) printf("\n");
+    printf("%2.2X ", d[i]);
+  }
+  printf("\n");
+}
+
 void _pigeon_send(const char *dat, int len) {
   int sent;
   unsigned char a[0x20];
   int err;
   a[0] = 1;
-  for (int i=0; i<len; i+=0x1f) {
-    int ll = std::max(0x1f, len-i);
+  for (int i=0; i<len; i+=0x20) {
+    int ll = std::min(0x20, len-i);
     memcpy(&a[1], &dat[i], ll);
+    pthread_mutex_lock(&usb_lock);
     err = libusb_bulk_transfer(dev_handle, 2, a, ll+1, &sent, TIMEOUT);
+    assert(err == 0);
+    assert(sent == ll+1);
+    //hexdump(a, ll+1);
+    pthread_mutex_unlock(&usb_lock);
   }
 }
 
+void pigeon_set_power(int power) {
+  pthread_mutex_lock(&usb_lock);
+  libusb_control_transfer(dev_handle, 0xc0, 0xd9, power, 0, NULL, 0, TIMEOUT);
+  pthread_mutex_unlock(&usb_lock);
+}
+
 void pigeon_set_baud(int baud) {
+  pthread_mutex_lock(&usb_lock);
+  libusb_control_transfer(dev_handle, 0xc0, 0xe2, 1, 0, NULL, 0, TIMEOUT);
   libusb_control_transfer(dev_handle, 0xc0, 0xe4, 1, baud/300, NULL, 0, TIMEOUT);
+  pthread_mutex_unlock(&usb_lock);
 }
 
 void pigeon_init() {
-  // power on pigeon
-  libusb_control_transfer(dev_handle, 0xc0, 0xd9, 0, 0, NULL, 0, TIMEOUT);
+  usleep(1000*1000);
+  LOGW("pigeon start");
+
+  // power off pigeon
+  pigeon_set_power(0);
   usleep(100*1000);
-  libusb_control_transfer(dev_handle, 0xc0, 0xd9, 1, 0, NULL, 0, TIMEOUT);
+
+  // 9600 baud at init
+  pigeon_set_baud(9600);
+
+  // power on pigeon
+  pigeon_set_power(1);
   usleep(500*1000);
 
   // baud rate upping
-  pigeon_set_baud(9600);
-  pigeon_send("$PUBX,41,1,0007,0003,230400,0*1A\r\n");
-  usleep(200*1000);
+  pigeon_send("\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A");
+  usleep(100*1000);
 
-  // set baud rate to 230400
-  pigeon_set_baud(230400);
+  // set baud rate to 460800
+  pigeon_set_baud(460800);
+  usleep(100*1000);
 
   // init from ubloxd
   pigeon_send("\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F");
   pigeon_send("\xB5\x62\x06\x3E\x00\x00\x44\xD2");
   pigeon_send("\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35");
-  pigeon_send("\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x00\x00\x00\x00\x00\x00\x00\x00\xF2\x72");
+  pigeon_send("\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80");
   pigeon_send("\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85");
   pigeon_send("\xB5\x62\x06\x00\x00\x00\x06\x18");
   pigeon_send("\xB5\x62\x06\x00\x01\x00\x01\x08\x22");
@@ -469,42 +514,66 @@ void pigeon_init() {
   pigeon_send("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70");
 
   LOGW("pigeon is ready to fly");
-
 }
 
+
 void *pigeon_thread(void *crap) {
   // ubloxRaw = 8042
   void *context = zmq_ctx_new();
   void *publisher = zmq_socket(context, ZMQ_PUB);
   zmq_bind(publisher, "tcp://*:8042");
 
-  // run at ~200hz
-  unsigned char dat[0x40];
+  // run at ~100hz
+  unsigned char dat[0x1000];
+  uint64_t cnt = 0;
   while (!do_exit) {
-    while (1) {
+    if (pigeon_needs_init) {
+      pigeon_needs_init = false;
+      pigeon_init();
+    } else {
+      // send periodic messages
+      if (cnt%3000 == 0) {
+        for (unsigned char sv = 1; sv < 33; ++sv){
+          const unsigned char buffer[5] = {0x0B, 0x31, 0x01, 0x00, sv};
+          unsigned char CK_A = 0;
+          unsigned char CK_B = 0;
+          for(int i=0;i<5;i++) {
+            CK_A = CK_A + buffer[i];
+            CK_B = CK_B + CK_A;
+          }
+	  const unsigned char msg[9] = {0xB5, 0x62, 0x0B, 0x31, 0x01, 0x00, sv, CK_A, CK_B};
+          _pigeon_send((const char *)msg, 9);
+        }
+        pigeon_send("\xB5\x62\x0b\x02\x00\x00\x0d\x32");
+      }
+    }
+    int alen = 0;
+    while (alen < 0xfc0) {
       pthread_mutex_lock(&usb_lock);
-      int len = libusb_control_transfer(dev_handle, 0xc0, 0xe0, 1, 0, dat, 0x40, TIMEOUT);
+      int len = libusb_control_transfer(dev_handle, 0xc0, 0xe0, 1, 0, dat+alen, 0x40, TIMEOUT);
       pthread_mutex_unlock(&usb_lock);
-
       if (len <= 0) break;
 
+      //printf("got %d\n", len);
+      alen += len;
+    }
+    if (alen > 0) {
       // create message
       capnp::MallocMessageBuilder msg;
       cereal::Event::Builder event = msg.initRoot<cereal::Event>();
       event.setLogMonoTime(nanos_since_boot());
-      auto ublox_raw = event.initUbloxRaw(len);
-      memcpy(ublox_raw.begin(), dat, len);
+      auto ublox_raw = event.initUbloxRaw(alen);
+      memcpy(ublox_raw.begin(), dat, alen);
 
       // send to ubloxRaw
       auto words = capnp::messageToFlatArray(msg);
       auto bytes = words.asBytes();
       zmq_send(publisher, bytes.begin(), bytes.size(), 0);
-
-      if (len < 0x40) break;
     }
 
     // 10ms
     usleep(10*1000);
+    cnt++;
   }
 
   return NULL;
@@ -541,10 +610,6 @@ int main() {
     loopback_can = true;
   }
 
-  if (getenv("PIGEON")) {
-    has_pigeon = true;
-  }
-
   // init libusb
   err = libusb_init(&ctx);
   assert(err == 0);
@@ -575,15 +640,6 @@ int main() {
                        thermal_thread, NULL);
   assert(err == 0);
 
-  if (has_pigeon) {
-    pthread_t pigeon_thread_handle;
-    err = pthread_create(&pigeon_thread_handle, NULL,
-                         pigeon_thread, NULL);
-    assert(err == 0);
-    err = pthread_join(pigeon_thread_handle, NULL);
-    assert(err == 0);
-  }
-
   // join threads
 
   err = pthread_join(thermal_thread_handle, NULL);
@@ -598,6 +654,8 @@ int main() {
   err = pthread_join(can_health_thread_handle, NULL);
   assert(err == 0);
 
+  //while (!do_exit) usleep(1000);
+
   // destruct libusb
 
   libusb_close(dev_handle);

selfdrive/can/Makefile

@@ -65,3 +65,5 @@ dbc_out/%.cc: $(OPENDBC_PATH)/%.dbc process_dbc.py dbc_template.cc
 clean:
 	rm -rf libdbc.so*
 	rm -f dbc_out/*.cc
+	rm -f dbcs.txt
+	rm -f dbcs.csv

selfdrive/can/dbc.cc

@@ -24,3 +24,9 @@ const DBC* dbc_lookup(const std::string& dbc_name) {
 void dbc_register(const DBC* dbc) {
   get_dbcs().push_back(dbc);
 }
+
+extern "C" {
+  const DBC* dbc_lookup(const char* dbc_name) {
+    return dbc_lookup(std::string(dbc_name));
+  }
+}

selfdrive/can/libdbc_py.py

@@ -11,24 +11,60 @@ subprocess.check_call(["make"], stdout=sys.stderr, cwd=can_dir)
 ffi = FFI()
 ffi.cdef("""
 
-typedef struct SignalParseOptions {
+typedef struct {
+  const char* name;
+  double value;
+} SignalPackValue;
+
+typedef struct {
   uint32_t address;
   const char* name;
   double default_value;
 } SignalParseOptions;
 
-typedef struct MessageParseOptions {
+typedef struct {
   uint32_t address;
   int check_frequency;
 } MessageParseOptions;
 
-typedef struct SignalValue {
+typedef struct {
   uint32_t address;
   uint16_t ts;
   const char* name;
   double value;
 } SignalValue;
 
+
+typedef enum {
+  DEFAULT,
+  HONDA_CHECKSUM,
+  HONDA_COUNTER,
+  TOYOTA_CHECKSUM,
+} SignalType;
+
+typedef struct {
+  const char* name;
+  int b1, b2, bo;
+  bool is_signed;
+  double factor, offset;
+  SignalType type;
+} Signal;
+
+typedef struct {
+  const char* name;
+  uint32_t address;
+  unsigned int size;
+  size_t num_sigs;
+  const Signal *sigs;
+} Msg;
+
+typedef struct {
+  const char* name;
+  size_t num_msgs;
+  const Msg *msgs;
+} DBC;
+
+
 void* can_init(int bus, const char* dbc_name,
               size_t num_message_options, const MessageParseOptions* message_options,
               size_t num_signal_options, const SignalParseOptions* signal_options);
@@ -37,11 +73,7 @@ void can_update(void* can, uint64_t sec, bool wait);
 
 size_t can_query(void* can, uint64_t sec, bool *out_can_valid, size_t out_values_size, SignalValue* out_values);
 
-
-typedef struct SignalPackValue {
-  const char* name;
-  double value;
-} SignalPackValue;
+const DBC* dbc_lookup(const char* dbc_name);
 
 void* canpack_init(const char* dbc_name);
 

selfdrive/can/packer.py

@@ -29,7 +29,7 @@ class CANPacker(object):
 
 
 if __name__ == "__main__":
-  cp = CANPacker("honda_civic_touring_2016_can")
+  cp = CANPacker("honda_civic_touring_2016_can_generated")
   s = cp.pack_bytes(0x30c, [
     ("PCM_SPEED", 123),
     ("PCM_GAS", 10),

selfdrive/can/parser.py

@@ -1,6 +1,7 @@
 import os
 import time
 from collections import defaultdict
+import numbers
 
 from selfdrive.can.libdbc_py import libdbc, ffi
 
@@ -10,8 +11,39 @@ class CANParser(object):
     self.vl = defaultdict(dict)
     self.ts = defaultdict(dict)
 
+    self.dbc = libdbc.dbc_lookup(dbc_name)
+    self.msg_name_to_addres = {}
+    self.address_to_msg_name = {}
+
+    num_msgs = self.dbc[0].num_msgs
+    for i in range(num_msgs):
+      msg = self.dbc[0].msgs[i]
+
+      name = ffi.string(msg.name)
+      address = msg.address
+
+      self.msg_name_to_addres[name] = address
+      self.address_to_msg_name[address] = name
+
+    # Convert message names into adresses
+    for i in range(len(signals)):
+      s = signals[i]
+      if not isinstance(s[1], numbers.Number):
+        s = (s[0], self.msg_name_to_addres[s[1]], s[2])
+        signals[i] = s
+
+    for i in range(len(checks)):
+      c = checks[i]
+      if not isinstance(c[0], numbers.Number):
+        c = (self.msg_name_to_addres[c[0]], c[1])
+        checks[i] = c
+
     sig_names = dict((name, ffi.new("char[]", name)) for name, _, _ in signals)
 
+    # Set default values by name
+    for sig_name, sig_address, sig_default in signals:
+      self.vl[self.address_to_msg_name[sig_address]][sig_name] = sig_default
+
     signal_options_c = ffi.new("SignalParseOptions[]", [
       {
         'address': sig_address,
@@ -21,7 +53,7 @@ class CANParser(object):
 
     message_options = dict((address, 0) for _, address, _ in signals)
     message_options.update(dict(checks))
-    
+
     message_options_c = ffi.new("MessageParseOptions[]", [
       {
         'address': address,
@@ -54,6 +86,10 @@ class CANParser(object):
       name = ffi.string(cv.name)
       self.vl[address][name] = cv.value
       self.ts[address][name] = cv.ts
+
+      sig_name = self.address_to_msg_name[address]
+      self.vl[sig_name][name] = cv.value
+      self.ts[sig_name][name] = cv.ts
       ret.add(address)
     return ret
 
@@ -74,7 +110,7 @@ if __name__ == "__main__":
 
 
   # signals = [
-  #   ("XMISSION_SPEED", 0x158, 0), #sig_name, sig_address, default 
+  #   ("XMISSION_SPEED", 0x158, 0), #sig_name, sig_address, default
   #   ("WHEEL_SPEED_FL", 0x1d0, 0),
   #   ("WHEEL_SPEED_FR", 0x1d0, 0),
   #   ("WHEEL_SPEED_RL", 0x1d0, 0),
@@ -123,7 +159,7 @@ if __name__ == "__main__":
   #   (0x405, 3),
   # ]
 
-  # cp = CANParser("honda_civic_touring_2016_can", signals, checks, 0)
+  # cp = CANParser("honda_civic_touring_2016_can_generated", signals, checks, 0)
 
 
   signals = [
@@ -164,7 +200,7 @@ if __name__ == "__main__":
     (608, 50),
   ]
 
-  cp = CANParser("toyota_rav4_2017_pt", signals, checks, 0)
+  cp = CANParser("toyota_rav4_2017_pt_generated", signals, checks, 0)
 
   # print cp.vl
 

selfdrive/can/process_dbc.py

@@ -4,7 +4,7 @@ import sys
 
 import jinja2
 
-import opendbc
+from collections import Counter
 from common.dbc import dbc
 
 if len(sys.argv) != 3:
@@ -31,6 +31,13 @@ elif can_dbc.name.startswith("toyota"):
 else:
   checksum_type = None
 
+
+# Fail on duplicate messgae names
+c = Counter([msg_name for address, msg_name, msg_size, sigs in msgs])
+for name, count in c.items():
+  if count > 1:
+    sys.exit("Duplicate message name in DBC file %s" % name)
+
 parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, len=len)
 
 with open(out_fn, "w") as out_f:

selfdrive/car/__init__.py

@@ -9,6 +9,7 @@ import selfdrive.messaging as messaging
 from selfdrive.car.honda.interface import CarInterface as HondaInterface
 from selfdrive.car.toyota.interface import CarInterface as ToyotaInterface
 from selfdrive.car.mock.interface import CarInterface as MockInterface
+from common.fingerprints import HONDA, TOYOTA
 
 try:
   from .simulator.interface import CarInterface as SimInterface
@@ -22,26 +23,23 @@ except ImportError:
 
 
 interfaces = {
-  "HONDA CIVIC 2016 TOURING": HondaInterface,
-  "ACURA ILX 2016 ACURAWATCH PLUS": HondaInterface,
-  "HONDA ACCORD 2016 TOURING": HondaInterface,
-  "HONDA CR-V 2016 TOURING": HondaInterface,
-  "HONDA ODYSSEY 2018 EX-L": HondaInterface,
-  "TOYOTA PRIUS 2017": ToyotaInterface,
-  "TOYOTA RAV4 2017": ToyotaInterface,
-  "TOYOTA RAV4 2017 HYBRID": ToyotaInterface,
-
-  "simulator": SimInterface,
-  "simulator2": Sim2Interface,
+  HONDA.CIVIC: HondaInterface,
+  HONDA.ACURA_ILX: HondaInterface,
+  HONDA.CRV: HondaInterface,
+  HONDA.ODYSSEY: HondaInterface,
+
+  TOYOTA.PRIUS: ToyotaInterface,
+  TOYOTA.RAV4: ToyotaInterface,
+  TOYOTA.RAV4H: ToyotaInterface,
+  TOYOTA.COROLLA: ToyotaInterface,
 
+  "simulator2": Sim2Interface,
   "mock": MockInterface
 }
 
 # **** for use live only ****
 def fingerprint(logcan, timeout):
-  if os.getenv("SIMULATOR") is not None or logcan is None:
-    return ("simulator", None)
-  elif os.getenv("SIMULATOR2") is not None:
+  if os.getenv("SIMULATOR2") is not None:
     return ("simulator2", None)
 
   finger_st = sec_since_boot()
@@ -77,7 +75,6 @@ def fingerprint(logcan, timeout):
 
 
 def get_car(logcan, sendcan=None, passive=True):
-
   # TODO: timeout only useful for replays so controlsd can start before unlogger
   timeout = 1. if passive else None
   candidate, fingerprints = fingerprint(logcan, timeout)

selfdrive/car/honda/carcontroller.py

@@ -1,18 +1,15 @@
 from collections import namedtuple
 import os
-import common.numpy_fast as np
-from common.numpy_fast import clip, interp
-from common.realtime import sec_since_boot
-
-from selfdrive.config import CruiseButtons
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.controls.lib.drive_helpers import rate_limit
-
+from common.realtime import sec_since_boot
+from common.numpy_fast import clip
 from . import hondacan
 from .values import AH
+from common.fingerprints import HONDA as CAR
 
 
-def actuator_hystereses(brake, braking, brake_steady, v_ego, civic, odyssey):
+def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
   # hyst params... TODO: move these to VehicleParams
   brake_hyst_on = 0.02     # to activate brakes exceed this value
   brake_hyst_off = 0.005                     # to deactivate brakes below this value
@@ -32,7 +29,7 @@ def actuator_hystereses(brake, braking, brake_steady, v_ego, civic, odyssey):
     brake_steady = brake + brake_hyst_gap
   brake = brake_steady
 
-  if (not civic and not odyssey) and brake > 0.0:
+  if (car_fingerprint in (CAR.ACURA_ILX, CAR.CRV)) and brake > 0.0:
     brake += 0.15
 
   return brake, braking, brake_steady
@@ -71,14 +68,14 @@ class CarController(object):
              pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
              hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert, \
              snd_beep, snd_chime):
+
     """ Controls thread """
 
-    # TODO: Make the accord work.
-    if CS.accord or not self.enable_camera:
+    if not self.enable_camera:
       return
 
     # *** apply brake hysteresis ***
-    brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.civic, CS.odyssey)
+    brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.CP.carFingerprint)
 
     # *** no output if not enabled ***
     if not enabled and CS.pcm_acc_status:
@@ -121,11 +118,11 @@ class CarController(object):
     tt = sec_since_boot()
     GAS_MAX = 1004
     BRAKE_MAX = 1024/4
-    if CS.civic or CS.odyssey:
+    if CS.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY):
       is_fw_modified = os.getenv("DONGLE_ID") in ['b0f5a01cf604185c']
       STEER_MAX = 0x1FFF if is_fw_modified else 0x1000
     elif CS.crv:
-      STEER_MAX = 0x300  # CR-V only uses 12-bits and requires a lower value
+      STEER_MAX = 0x3e8  # CR-V only uses 12-bits and requires a lower value (max value from energee)
     else:
       STEER_MAX = 0xF00
     GAS_OFFSET = 328
@@ -143,12 +140,8 @@ class CarController(object):
     can_sends = []
 
     # Send steering command.
-    if CS.accord:
-      idx = frame % 2
-      can_sends.append(hondacan.create_accord_steering_control(apply_steer, idx))
-    else:
-      idx = frame % 4
-      can_sends.extend(hondacan.create_steering_control(apply_steer, CS.crv, idx))
+    idx = frame % 4
+    can_sends.extend(hondacan.create_steering_control(apply_steer, CS.CP.carFingerprint, idx))
 
     # Send gas and brake commands.
     if (frame % 2) == 0:
@@ -165,16 +158,16 @@ class CarController(object):
     # Send dashboard UI commands.
     if (frame % 10) == 0:
       idx = (frame/10) % 4
-      can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.civic, CS.accord, CS.crv, CS.odyssey, idx))
+      can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.CP.carFingerprint, idx))
 
     # radar at 20Hz, but these msgs need to be sent at 50Hz on ilx (seems like an Acura bug)
-    if CS.acura:
+    if CS.CP.carFingerprint == CAR.ACURA_ILX:
       radar_send_step = 2
     else:
       radar_send_step = 5
 
     if (frame % radar_send_step) == 0:
       idx = (frame/radar_send_step) % 4
-      can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, CS.accord, CS.crv, CS.odyssey, idx))
+      can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.CP.carFingerprint, idx))
 
     sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())

selfdrive/car/honda/carstate.py

@@ -4,24 +4,26 @@ from common.numpy_fast import interp
 import selfdrive.messaging as messaging
 from selfdrive.can.parser import CANParser
 from selfdrive.config import Conversions as CV
+from common.kalman.simple_kalman import KF1D
+from common.fingerprints import HONDA as CAR
 import numpy as np
 
-def parse_gear_shifter(can_gear_shifter, is_acura, is_odyssey):
 
+def parse_gear_shifter(can_gear_shifter, car_fingerprint):
+  # TODO: Use values from DBC to parse this field
   if can_gear_shifter == 0x1:
     return "park"
   elif can_gear_shifter == 0x2:
     return "reverse"
 
-  if is_acura or is_odyssey:
+  if car_fingerprint in (CAR.ACURA_ILX, CAR.ODYSSEY):
     if can_gear_shifter == 0x3:
       return "neutral"
     elif can_gear_shifter == 0x4:
       return "drive"
     elif can_gear_shifter == 0xa:
       return "sport"
-
-  else:
+  elif car_fingerprint in (CAR.CIVIC, CAR.CRV):
     if can_gear_shifter == 0x4:
       return "neutral"
     elif can_gear_shifter == 0x8:
@@ -33,9 +35,6 @@ def parse_gear_shifter(can_gear_shifter, is_acura, is_odyssey):
 
   return "unknown"
 
-_K0 = -0.3
-_K1 = -0.01879
-_K2 = 0.01013
 
 def calc_cruise_offset(offset, speed):
   # euristic formula so that speed is controlled to ~ 0.3m/s below pid_speed
@@ -43,311 +42,102 @@ def calc_cruise_offset(offset, speed):
   # - speed = 0m/s, out = -0.3
   # - speed = 34m/s, offset = 20, out = -0.25
   # - speed = 34m/s, offset = -2.5, out = -1.8
+  _K0 = -0.3
+  _K1 = -0.01879
+  _K2 = 0.01013
   return min(_K0 + _K1 * speed + _K2 * speed * offset, 0.)
 
+
 def get_can_signals(CP):
 # this function generates lists for signal, messages and initial values
-  if CP.carFingerprint == "HONDA CIVIC 2016 TOURING":
-    dbc_f = 'honda_civic_touring_2016_can.dbc'
-    signals = [
-      # sig_name, sig_address, default
-      ("XMISSION_SPEED", 0x158, 0),
-      ("WHEEL_SPEED_FL", 0x1d0, 0),
-      ("WHEEL_SPEED_FR", 0x1d0, 0),
-      ("WHEEL_SPEED_RL", 0x1d0, 0),
-      ("WHEEL_SPEED_RR", 0x1d0, 0),
-      ("STEER_ANGLE", 0x14a, 0),
-      ("STEER_ANGLE_RATE", 0x14a, 0),
-      ("STEER_TORQUE_SENSOR", 0x18f, 0),
-      ("GEAR", 0x191, 0),
-      ("WHEELS_MOVING", 0x1b0, 1),
-      ("DOOR_OPEN_FL", 0x405, 1),
-      ("DOOR_OPEN_FR", 0x405, 1),
-      ("DOOR_OPEN_RL", 0x405, 1),
-      ("DOOR_OPEN_RR", 0x405, 1),
-      ("CRUISE_SPEED_PCM", 0x324, 0),
-      ("SEATBELT_DRIVER_LAMP", 0x305, 1),
-      ("SEATBELT_DRIVER_LATCHED", 0x305, 0),
-      ("BRAKE_PRESSED", 0x17c, 0),
-      ("BRAKE_SWITCH", 0x17c, 0),
-      ("CAR_GAS", 0x130, 0),
-      ("CRUISE_BUTTONS", 0x296, 0),
-      ("ESP_DISABLED", 0x1a4, 1),
-      ("HUD_LEAD", 0x30c, 0),
-      ("USER_BRAKE", 0x1a4, 0),
-      ("STEER_STATUS", 0x18f, 5),
-      ("BRAKE_ERROR_1", 0x1b0, 1),
-      ("BRAKE_ERROR_2", 0x1b0, 1),
-      ("GEAR_SHIFTER", 0x191, 0),
-      ("MAIN_ON", 0x326, 0),
-      ("ACC_STATUS", 0x17c, 0),
-      ("PEDAL_GAS", 0x17c, 0),
-      ("CRUISE_SETTING", 0x296, 0),
-      ("LEFT_BLINKER", 0x326, 0),
-      ("RIGHT_BLINKER", 0x326, 0),
-      ("CRUISE_SPEED_OFFSET", 0x37c, 0),
-      ("EPB_STATE", 0x1c2, 0),
-      ("BRAKE_HOLD_ACTIVE", 0x1A4, 0),
-    ]
-    checks = [
-      # address, frequency
-      (0x14a, 100),
-      (0x158, 100),
-      (0x17c, 100),
-      (0x191, 100),
-      (0x1a4, 50),
-      (0x326, 10),
-      (0x1b0, 50),
-      (0x1d0, 50),
-      (0x305, 10),
-      (0x324, 10),
-      (0x37c, 10),
-      (0x405, 3),
-    ]
-
-  elif CP.carFingerprint == "ACURA ILX 2016 ACURAWATCH PLUS":
-    dbc_f = 'acura_ilx_2016_can.dbc'
-    signals = [
-      ("XMISSION_SPEED", 0x158, 0),
-      ("WHEEL_SPEED_FL", 0x1d0, 0),
-      ("WHEEL_SPEED_FR", 0x1d0, 0),
-      ("WHEEL_SPEED_RL", 0x1d0, 0),
-      ("WHEEL_SPEED_RR", 0x1d0, 0),
-      ("STEER_ANGLE", 0x156, 0),
-      ("STEER_ANGLE_RATE", 0x156, 0),
-      ("STEER_TORQUE_SENSOR", 0x18f, 0),
-      ("GEAR", 0x1a3, 0),
-      ("WHEELS_MOVING", 0x1b0, 1),
-      ("DOOR_OPEN_FL", 0x405, 1),
-      ("DOOR_OPEN_FR", 0x405, 1),
-      ("DOOR_OPEN_RL", 0x405, 1),
-      ("DOOR_OPEN_RR", 0x405, 1),
-      ("CRUISE_SPEED_PCM", 0x324, 0),
-      ("SEATBELT_DRIVER_LAMP", 0x305, 1),
-      ("SEATBELT_DRIVER_LATCHED", 0x305, 0),
-      ("BRAKE_PRESSED", 0x17c, 0),
-      ("BRAKE_SWITCH", 0x17c, 0),
-      ("CAR_GAS", 0x130, 0),
-      ("CRUISE_BUTTONS", 0x1a6, 0),
-      ("ESP_DISABLED", 0x1a4, 1),
-      ("HUD_LEAD", 0x30c, 0),
-      ("USER_BRAKE", 0x1a4, 0),
-      ("STEER_STATUS", 0x18f, 5),
-      ("BRAKE_ERROR_1", 0x1b0, 1),
-      ("BRAKE_ERROR_2", 0x1b0, 1),
-      ("GEAR_SHIFTER", 0x1a3, 0),
-      ("MAIN_ON", 0x1a6, 0),
-      ("ACC_STATUS", 0x17c, 0),
-      ("PEDAL_GAS", 0x17c, 0),
-      ("CRUISE_SETTING", 0x1a6, 0),
-      ("LEFT_BLINKER", 0x294, 0),
-      ("RIGHT_BLINKER", 0x294, 0),
-      ("CRUISE_SPEED_OFFSET", 0x37c, 0)
-    ]
-    checks = [
-      (0x156, 100),
-      (0x158, 100),
-      (0x17c, 100),
-      (0x1a3, 50),
-      (0x1a4, 50),
-      (0x1a6, 50),
-      (0x1b0, 50),
-      (0x1d0, 50),
-      (0x305, 10),
-      (0x324, 10),
-      (0x37c, 10),
-      (0x405, 3),
-    ]
-  elif CP.carFingerprint == "HONDA ACCORD 2016 TOURING":
-    dbc_f = 'honda_accord_touring_2016_can.dbc'
-    signals = [
-      ("XMISSION_SPEED", 0x158, 0),
-      ("WHEEL_SPEED_FL", 0x1d0, 0),
-      ("WHEEL_SPEED_FR", 0x1d0, 0),
-      ("WHEEL_SPEED_RL", 0x1d0, 0),
-      ("WHEEL_SPEED_RR", 0x1d0, 0),
-      ("STEER_ANGLE", 0x156, 0),
-      ("STEER_ANGLE_RATE", 0x156, 0),
-      #("STEER_TORQUE_SENSOR", 0x18f, 0),
-      ("GEAR", 0x191, 0),
-      ("WHEELS_MOVING", 0x1b0, 1),
-      ("DOOR_OPEN_FL", 0x405, 1),
-      ("DOOR_OPEN_FR", 0x405, 1),
-      ("DOOR_OPEN_RL", 0x405, 1),
-      ("DOOR_OPEN_RR", 0x405, 1),
-      ("CRUISE_SPEED_PCM", 0x324, 0),
-      ("SEATBELT_DRIVER_LAMP", 0x305, 1),
-      ("SEATBELT_DRIVER_LATCHED", 0x305, 0),
-      ("BRAKE_PRESSED", 0x17c, 0),
-      ("BRAKE_SWITCH", 0x17c, 0),
-      #("CAR_GAS", 0x130, 0),
-      ("PEDAL_GAS", 0x17C, 0),
-      ("CRUISE_BUTTONS", 0x1a6, 0),
-      ("ESP_DISABLED", 0x1a4, 1),
-      ("HUD_LEAD", 0x30c, 0),
-      ("USER_BRAKE", 0x1a4, 0),
-      #("STEER_STATUS", 0x18f, 5),
-      ("BRAKE_ERROR_1", 0x1b0, 1),
-      ("BRAKE_ERROR_2", 0x1b0, 1),
-      ("GEAR_SHIFTER", 0x191, 0),
-      ("MAIN_ON", 0x1a6, 0),
-      ("ACC_STATUS", 0x17c, 0),
-      ("PEDAL_GAS", 0x17c, 0),
-      ("CRUISE_SETTING", 0x1a6, 0),
-      ("LEFT_BLINKER", 0x294, 0),
-      ("RIGHT_BLINKER", 0x294, 0),
-    ]
-    checks = [
-      (0x156, 100),
-      (0x158, 100),
-      (0x17c, 100),
-      (0x191, 100),
-      (0x1a4, 50),
-      (0x1a6, 50),
-      (0x1b0, 50),
-      (0x1d0, 50),
-      (0x305, 10),
-      (0x324, 10),
-      (0x405, 3),
-    ]
-  elif CP.carFingerprint == "HONDA CR-V 2016 TOURING":
-    dbc_f = 'honda_crv_touring_2016_can.dbc'
-    signals = [
-      ("XMISSION_SPEED", 0x158, 0),
-      ("WHEEL_SPEED_FL", 0x1d0, 0),
-      ("WHEEL_SPEED_FR", 0x1d0, 0),
-      ("WHEEL_SPEED_RL", 0x1d0, 0),
-      ("WHEEL_SPEED_RR", 0x1d0, 0),
-      ("STEER_ANGLE", 0x156, 0),
-      ("STEER_ANGLE_RATE", 0x156, 0),
-      ("STEER_TORQUE_SENSOR", 0x18f, 0),
-      ("GEAR", 0x191, 0),
-      ("WHEELS_MOVING", 0x1b0, 1),
-      ("DOOR_OPEN_FL", 0x405, 1),
-      ("DOOR_OPEN_FR", 0x405, 1),
-      ("DOOR_OPEN_RL", 0x405, 1),
-      ("DOOR_OPEN_RR", 0x405, 1),
-      ("CRUISE_SPEED_PCM", 0x324, 0),
-      ("SEATBELT_DRIVER_LAMP", 0x305, 1),
-      ("SEATBELT_DRIVER_LATCHED", 0x305, 0),
-      ("BRAKE_PRESSED", 0x17c, 0),
-      ("BRAKE_SWITCH", 0x17c, 0),
-      #("CAR_GAS", 0x130, 0),
-      ("CRUISE_BUTTONS", 0x1a6, 0),
-      ("ESP_DISABLED", 0x1a4, 1),
-      ("HUD_LEAD", 0x30c, 0),
-      ("USER_BRAKE", 0x1a4, 0),
-      ("STEER_STATUS", 0x18f, 5),
-      ("BRAKE_ERROR_1", 0x1b0, 1),
-      ("BRAKE_ERROR_2", 0x1b0, 1),
-      ("GEAR_SHIFTER", 0x191, 0),
-      ("MAIN_ON", 0x1a6, 0),
-      ("ACC_STATUS", 0x17c, 0),
-      ("PEDAL_GAS", 0x17c, 0),
-      ("CRUISE_SETTING", 0x1a6, 0),
-      ("LEFT_BLINKER", 0x294, 0),
-      ("RIGHT_BLINKER", 0x294, 0),
-    ]
-    checks = [
-      (0x156, 100),
-      (0x158, 100),
-      (0x17c, 100),
-      (0x191, 100),
-      (0x1a4, 50),
-      (0x1a6, 50),
-      (0x1b0, 50),
-      (0x1d0, 50),
-      (0x305, 10),
-      (0x324, 10),
-      (0x405, 3),
-    ]
-  elif CP.carFingerprint == "HONDA ODYSSEY 2018 EX-L":
-    dbc_f = 'honda_odyssey_exl_2018.dbc'
-    signals = [
-      ("XMISSION_SPEED", 0x158, 0),
-      ("WHEEL_SPEED_FL", 0x1d0, 0),
-      ("WHEEL_SPEED_FR", 0x1d0, 0),
-      ("WHEEL_SPEED_RL", 0x1d0, 0),
-      ("WHEEL_SPEED_RR", 0x1d0, 0),
-      ("STEER_ANGLE", 0x156, 0),
-      ("STEER_ANGLE_RATE", 0x156, 0),
-      ("STEER_TORQUE_SENSOR", 0x18f, 0),
-      ("GEAR", 0x1a3, 0),
-      ("WHEELS_MOVING", 0x1b0, 1),
-      ("DOOR_OPEN_FL", 0x405, 1),
-      ("DOOR_OPEN_FR", 0x405, 1),
-      ("DOOR_OPEN_RL", 0x405, 1),
-      ("DOOR_OPEN_RR", 0x405, 1),
-      ("CRUISE_SPEED_PCM", 0x324, 0),
-      ("SEATBELT_DRIVER_LAMP", 0x305, 1),
-      ("SEATBELT_DRIVER_LATCHED", 0x305, 0),
-      ("BRAKE_PRESSED", 0x17c, 0),
-      ("BRAKE_SWITCH", 0x17c, 0),
-      ("CRUISE_BUTTONS", 0x296, 0),
-      ("ESP_DISABLED", 0x1a4, 1),
-      ("HUD_LEAD", 0x30c, 0),
-      ("USER_BRAKE", 0x1a4, 0),
-      ("STEER_STATUS", 0x18f, 5),
-      ("BRAKE_ERROR_1", 0x1b0, 1),
-      ("BRAKE_ERROR_2", 0x1b0, 1),
-      ("GEAR_SHIFTER", 0x1a3, 0),
-      ("MAIN_ON", 0x326, 0),
-      ("ACC_STATUS", 0x17c, 0),
-      ("PEDAL_GAS", 0x17c, 0),
-      ("CRUISE_SETTING", 0x296, 0),
-      ("LEFT_BLINKER", 0x326, 0),
-      ("RIGHT_BLINKER", 0x326, 0),
-      ("CRUISE_SPEED_OFFSET", 0x37c, 0),
-      ("EPB_STATE", 0x1c2, 0),
-      ("BRAKE_HOLD_ACTIVE", 0x1a4, 0),
-    ]
-    checks = [
-      (0x156, 100),
-      (0x158, 100),
-      (0x17c, 100),
-      (0x1a3, 50),
-      (0x1a4, 50),
-      (0x1b0, 50),
-      (0x1c2, 50),
-      (0x1d0, 50),
-      (0x296, 25),
-      (0x305, 10),
-      (0x324, 10),
-      (0x326, 10),
-      (0x37c, 10),
-      (0x405, 3),
-    ]
+  signals = [
+      ("XMISSION_SPEED", "ENGINE_DATA", 0),
+      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
+      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
+      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
+      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
+      ("STEER_ANGLE", "STEERING_SENSORS", 0),
+      ("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
+      ("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
+      ("DOOR_OPEN_FL", "DOORS_STATUS", 1),
+      ("DOOR_OPEN_FR", "DOORS_STATUS", 1),
+      ("DOOR_OPEN_RL", "DOORS_STATUS", 1),
+      ("DOOR_OPEN_RR", "DOORS_STATUS", 1),
+      ("LEFT_BLINKER", "SCM_FEEDBACK", 0),
+      ("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
+      ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0),
+      ("GEAR", "GEARBOX", 0),
+      ("WHEELS_MOVING", "STANDSTILL", 1),
+      ("BRAKE_ERROR_1", "STANDSTILL", 1),
+      ("BRAKE_ERROR_2", "STANDSTILL", 1),
+      ("CRUISE_SPEED_PCM", "CRUISE", 0),
+      ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
+      ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
+      ("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
+      ("BRAKE_SWITCH", "POWERTRAIN_DATA", 0),
+      ("CRUISE_BUTTONS", "SCM_BUTTONS", 0),
+      ("ESP_DISABLED", "VSA_STATUS", 1),
+      ("HUD_LEAD", "ACC_HUD", 0),
+      ("USER_BRAKE", "VSA_STATUS", 0),
+      ("STEER_STATUS", "STEER_STATUS", 5),
+      ("GEAR_SHIFTER", "GEARBOX", 0),
+      ("PEDAL_GAS", "POWERTRAIN_DATA", 0),
+      ("CRUISE_SETTING", "SCM_BUTTONS", 0),
+      ("ACC_STATUS", "POWERTRAIN_DATA", 0),
+  ]
+
+  checks = [
+      ("ENGINE_DATA", 100),
+      ("WHEEL_SPEEDS", 50),
+      ("STEERING_SENSORS", 100),
+      ("DOORS_STATUS", 3),
+      ("SCM_FEEDBACK", 10),
+      ("CRUISE_PARAMS", 10),
+      ("GEARBOX", 100),
+      ("STANDSTILL", 50),
+      ("SEATBELT_STATUS", 10),
+      ("CRUISE", 10),
+      ("POWERTRAIN_DATA", 100),
+      ("VSA_STATUS", 50),
+      ("SCM_BUTTONS", 25),
+  ]
+
+  if CP.carFingerprint == CAR.CIVIC:
+    dbc_f = 'honda_civic_touring_2016_can_generated.dbc'
+    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
+                ("MAIN_ON", "SCM_FEEDBACK", 0),
+                ("EPB_STATE", "EPB_STATUS", 0),
+                ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
+  elif CP.carFingerprint == CAR.ACURA_ILX:
+    dbc_f = 'acura_ilx_2016_can_generated.dbc'
+    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
+                ("MAIN_ON", "SCM_BUTTONS", 0)]
+  elif CP.carFingerprint == CAR.CRV:
+    dbc_f = 'honda_crv_touring_2016_can_generated.dbc'
+    signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
+  elif CP.carFingerprint == CAR.ODYSSEY:
+    dbc_f = 'honda_odyssey_exl_2018_generated.dbc'
+    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
+                ("MAIN_ON", "SCM_FEEDBACK", 0),
+                ("EPB_STATE", "EPB_STATUS", 0),
+                ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
+    checks += [("EPB_STATUS", 50)]
+
   # add gas interceptor reading if we are using it
   if CP.enableGas:
-    signals.append(("INTERCEPTOR_GAS", 0x201, 0))
-    checks.append((0x201, 50))
+    signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
+    checks.append(("GAS_SENSOR", 50))
 
   return dbc_f, signals, checks
 
+
 def get_can_parser(CP):
   dbc_f, signals, checks = get_can_signals(CP)
   return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 0)
 
+
 class CarState(object):
   def __init__(self, CP):
-    self.acura = False
-    self.civic = False
-    self.accord = False
-    self.crv = False
-    self.odyssey = False
-    if CP.carFingerprint == "HONDA CIVIC 2016 TOURING":
-      self.civic = True
-    elif CP.carFingerprint == "ACURA ILX 2016 ACURAWATCH PLUS":
-      self.acura = True
-    elif CP.carFingerprint == "HONDA ACCORD 2016 TOURING":
-      self.accord = True
-    elif CP.carFingerprint == "HONDA CR-V 2016 TOURING":
-      self.crv = True
-    elif CP.carFingerprint == "HONDA ODYSSEY 2018 EX-L":
-      self.odyssey = True
-    else:
-      raise ValueError("unsupported car %s" % CP.carFingerprint)
-
     self.brake_only = CP.enableCruise
     self.CP = CP
 
@@ -364,16 +154,13 @@ class CarState(object):
 
     # vEgo kalman filter
     dt = 0.01
-    self.v_ego_x = np.matrix([[0.0], [0.0]])
-    self.v_ego_A = np.matrix([[1.0, dt], [0.0, 1.0]])
-    self.v_ego_C = np.matrix([1.0, 0.0])
-    self.v_ego_Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
-    self.v_ego_R = 1e3
+    # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
+    # R = 1e3
+    self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]),
+                         A=np.matrix([[1.0, dt], [0.0, 1.0]]),
+                         C=np.matrix([1.0, 0.0]),
+                         K=np.matrix([[0.12287673], [0.29666309]]))
     self.v_ego = 0.0
-    # import control
-    # (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R)
-    # self.v_ego_K = np.transpose(K)
-    self.v_ego_K = np.matrix([[0.12287673], [0.29666309]])
 
   def update(self, cp):
 
@@ -381,7 +168,7 @@ class CarState(object):
     self.can_valid = cp.can_valid
 
     # car params
-    v_weight_v  = [0., 1. ]  # don't trust smooth speed at low values to avoid premature zero snapping
+    v_weight_v = [0., 1.]  # don't trust smooth speed at low values to avoid premature zero snapping
     v_weight_bp = [1., 6.]   # smooth blending, below ~0.6m/s the smooth speed snaps to zero
 
     # update prevs, update must run once per loop
@@ -393,149 +180,90 @@ class CarState(object):
     self.prev_right_blinker_on = self.right_blinker_on
 
     # ******************* parse out can *******************
-    self.door_all_closed = not any([cp.vl[0x405]['DOOR_OPEN_FL'], cp.vl[0x405]['DOOR_OPEN_FR'],
-                               cp.vl[0x405]['DOOR_OPEN_RL'], cp.vl[0x405]['DOOR_OPEN_RR']])
-    self.seatbelt = not cp.vl[0x305]['SEATBELT_DRIVER_LAMP'] and cp.vl[0x305]['SEATBELT_DRIVER_LATCHED']
-    # error 2 = temporary
-    # error 4 = temporary, hit a bump
-    # error 5 (permanent)
-    # error 6 = temporary
-    # error 7 (permanent)
-    #self.steer_error = cp.vl[0x18F]['STEER_STATUS'] in [5,7]
-    # whitelist instead of blacklist, safer at the expense of disengages
-    if self.accord:
-      self.steer_error = False
-      self.steer_not_allowed = False
-    else:
-      self.steer_error = cp.vl[0x18F]['STEER_STATUS'] not in [0,2,4,6]
-      self.steer_not_allowed = cp.vl[0x18F]['STEER_STATUS'] != 0
-    self.brake_error = cp.vl[0x1B0]['BRAKE_ERROR_1'] or cp.vl[0x1B0]['BRAKE_ERROR_2']
-    self.esp_disabled = cp.vl[0x1A4]['ESP_DISABLED']
+    self.door_all_closed = not any([cp.vl["DOORS_STATUS"]['DOOR_OPEN_FL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_FR'],
+                                    cp.vl["DOORS_STATUS"]['DOOR_OPEN_RL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_RR']])
+    self.seatbelt = not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] and cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED']
+
+    # 2 = temporary 4 = temporary, hit a bump 5 (permanent) 6 = temporary 7 (permanent)
+    # TODO: Use values from DBC to parse this field
+    self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 4, 6]
+    self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS'] != 0
+    self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
+    self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']
+
     # calc best v_ego estimate, by averaging two opposite corners
-    self.v_wheel_fl = cp.vl[0x1D0]['WHEEL_SPEED_FL']
-    self.v_wheel_fr = cp.vl[0x1D0]['WHEEL_SPEED_FR']
-    self.v_wheel_rl = cp.vl[0x1D0]['WHEEL_SPEED_RL']
-    self.v_wheel_rr = cp.vl[0x1D0]['WHEEL_SPEED_RR']
+    self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS
+    self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
+    self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
+    self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
     self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
 
     # blend in transmission speed at low speed, since it has more low speed accuracy
     self.v_weight = interp(self.v_wheel, v_weight_bp, v_weight_v)
-    speed = (1. - self.v_weight) * cp.vl[0x158]['XMISSION_SPEED'] + self.v_weight * self.v_wheel
+    speed = (1. - self.v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] + self.v_weight * self.v_wheel
 
     if abs(speed - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed
       self.v_ego_x = np.matrix([[speed], [0.0]])
-    self.v_ego_x = np.dot((self.v_ego_A - np.dot(self.v_ego_K, self.v_ego_C)), self.v_ego_x) + np.dot(self.v_ego_K, speed)
 
     self.v_ego_raw = speed
-    self.v_ego = float(self.v_ego_x[0])
-    self.a_ego = float(self.v_ego_x[1])
+    v_ego_x = self.v_ego_kf.update(speed)
+    self.v_ego = float(v_ego_x[0])
+    self.a_ego = float(v_ego_x[1])
 
+    # this is a hack for the interceptor. This is now only used in the simulation
+    # TODO: Replace tests by toyota so this can go away
     if self.CP.enableGas:
-      # this is a hack
-      self.user_gas = cp.vl[0x201]['INTERCEPTOR_GAS']
+      self.user_gas = cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS']
       self.user_gas_pressed = self.user_gas > 0 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
-      #print self.user_gas, self.user_gas_pressed
-    if self.civic:
-      can_gear_shifter = cp.vl[0x191]['GEAR_SHIFTER']
-      self.angle_steers = cp.vl[0x14A]['STEER_ANGLE']
-      self.angle_steers_rate = cp.vl[0x14A]['STEER_ANGLE_RATE']
-      self.gear = 0  # TODO: civic has CVT... needs rev engineering
-      self.cruise_setting = cp.vl[0x296]['CRUISE_SETTING']
-      self.cruise_buttons = cp.vl[0x296]['CRUISE_BUTTONS']
-      self.main_on = cp.vl[0x326]['MAIN_ON']
-      self.blinker_on = cp.vl[0x326]['LEFT_BLINKER'] or cp.vl[0x326]['RIGHT_BLINKER']
-      self.left_blinker_on = cp.vl[0x326]['LEFT_BLINKER']
-      self.right_blinker_on = cp.vl[0x326]['RIGHT_BLINKER']
-      self.cruise_speed_offset = calc_cruise_offset(cp.vl[0x37c]['CRUISE_SPEED_OFFSET'], self.v_ego)
-      self.park_brake = cp.vl[0x1c2]['EPB_STATE'] != 0
-      self.brake_hold = cp.vl[0x1A4]['BRAKE_HOLD_ACTIVE']
-    elif self.accord:
-      can_gear_shifter = cp.vl[0x191]['GEAR_SHIFTER']
-      self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
-      self.angle_steers_rate = cp.vl[0x156]['STEER_ANGLE_RATE']
-      self.gear = 0  # TODO: accord has CVT... needs rev engineering
-      self.cruise_setting = cp.vl[0x1A6]['CRUISE_SETTING']
-      self.cruise_buttons = cp.vl[0x1A6]['CRUISE_BUTTONS']
-      self.main_on = cp.vl[0x1A6]['MAIN_ON']
-      self.blinker_on = cp.vl[0x294]['LEFT_BLINKER'] or cp.vl[0x294]['RIGHT_BLINKER']
-      self.left_blinker_on = cp.vl[0x294]['LEFT_BLINKER']
-      self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
-      self.cruise_speed_offset = -0.3
-      self.park_brake = 0  # TODO
-      self.brake_hold = 0  # TODO
-    elif self.crv:
-      can_gear_shifter = cp.vl[0x191]['GEAR_SHIFTER']
-      self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
-      self.angle_steers_rate = cp.vl[0x156]['STEER_ANGLE_RATE']
-      self.gear = cp.vl[0x191]['GEAR']
-      self.cruise_setting = cp.vl[0x1A6]['CRUISE_SETTING']
-      self.cruise_buttons = cp.vl[0x1A6]['CRUISE_BUTTONS']
-      self.main_on = cp.vl[0x1A6]['MAIN_ON']
-      self.blinker_on = cp.vl[0x294]['LEFT_BLINKER'] or cp.vl[0x294]['RIGHT_BLINKER']
-      self.left_blinker_on = cp.vl[0x294]['LEFT_BLINKER']
-      self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
-      self.cruise_speed_offset = -0.3
-      self.park_brake = 0  # TODO
-      self.brake_hold = 0  # TODO
-    elif self.odyssey:
-      can_gear_shifter = cp.vl[0x1A3]['GEAR_SHIFTER']
-      self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
-      self.angle_steers_rate = cp.vl[0x156]['STEER_ANGLE_RATE']
-      self.gear = cp.vl[0x1A3]['GEAR']
-      self.cruise_setting = cp.vl[0x296]['CRUISE_SETTING']
-      self.cruise_buttons = cp.vl[0x296]['CRUISE_BUTTONS']
-      self.main_on = cp.vl[0x326]['MAIN_ON']
-      self.blinker_on = cp.vl[0x326]['LEFT_BLINKER'] or cp.vl[0x326]['RIGHT_BLINKER']
-      self.left_blinker_on = cp.vl[0x326]['LEFT_BLINKER']
-      self.right_blinker_on = cp.vl[0x326]['RIGHT_BLINKER']
-      self.cruise_speed_offset = calc_cruise_offset(cp.vl[0x37c]['CRUISE_SPEED_OFFSET'], self.v_ego)
-      self.park_brake = cp.vl[0x1c2]['EPB_STATE'] != 0
-      self.brake_hold = cp.vl[0x1a4]['BRAKE_HOLD_ACTIVE']
-    elif self.acura:
-      can_gear_shifter = cp.vl[0x1A3]['GEAR_SHIFTER']
-      self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
-      self.angle_steers_rate = cp.vl[0x156]['STEER_ANGLE_RATE']
-      self.gear = cp.vl[0x1A3]['GEAR']
-      self.cruise_setting = cp.vl[0x1A6]['CRUISE_SETTING']
-      self.cruise_buttons = cp.vl[0x1A6]['CRUISE_BUTTONS']
-      self.main_on = cp.vl[0x1A6]['MAIN_ON']
-      self.blinker_on = cp.vl[0x294]['LEFT_BLINKER'] or cp.vl[0x294]['RIGHT_BLINKER']
-      self.left_blinker_on = cp.vl[0x294]['LEFT_BLINKER']
-      self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
-      self.cruise_speed_offset = calc_cruise_offset(cp.vl[0x37c]['CRUISE_SPEED_OFFSET'], self.v_ego)
+
+    can_gear_shifter = cp.vl["GEARBOX"]['GEAR_SHIFTER']
+    self.gear = 0 if self.CP.carFingerprint == CAR.CIVIC else cp.vl["GEARBOX"]['GEAR']
+    self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
+    self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
+
+    self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']
+    self.cruise_buttons = cp.vl["SCM_BUTTONS"]['CRUISE_BUTTONS']
+
+    self.blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER'] or cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
+    self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
+    self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
+
+    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY):
+      self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
+      self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
+      self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
+    else:
       self.park_brake = 0  # TODO
       self.brake_hold = 0  # TODO
+      self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
 
-    self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.acura, self.odyssey)
+    self.cruise_speed_offset = calc_cruise_offset(cp.vl["CRUISE_PARAMS"]['CRUISE_SPEED_OFFSET'], self.v_ego)
+    self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.CP.carFingerprint)
 
-    if self.accord:
-      # on the accord, this doesn't seem to include cruise control
-      self.car_gas = cp.vl[0x17C]['PEDAL_GAS']
-      self.steer_override = False
-    elif self.crv or self.odyssey:
-      # like accord, crv doesn't include cruise control
-      self.car_gas = cp.vl[0x17C]['PEDAL_GAS']
-      self.steer_override = abs(cp.vl[0x18F]['STEER_TORQUE_SENSOR']) > 1200
+    self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
+    # crv doesn't include cruise control
+    if self.CP.carFingerprint != CAR.CRV:
+      self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
     else:
-      self.car_gas = cp.vl[0x130]['CAR_GAS']
-      self.steer_override = abs(cp.vl[0x18F]['STEER_TORQUE_SENSOR']) > 1200
-    self.steer_torque_driver = cp.vl[0x18F]['STEER_TORQUE_SENSOR']
+      self.car_gas = self.pedal_gas
+
+    self.steer_override = abs(cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']) > 1200
+    self.steer_torque_driver = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
 
     # brake switch has shown some single time step noise, so only considered when
     # switch is on for at least 2 consecutive CAN samples
-    self.brake_switch = cp.vl[0x17C]['BRAKE_SWITCH']
-    self.brake_pressed = cp.vl[0x17C]['BRAKE_PRESSED'] or \
+    self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
+    self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
                          (self.brake_switch and self.brake_switch_prev and \
-                         cp.ts[0x17C]['BRAKE_SWITCH'] != self.brake_switch_ts)
+                         cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
     self.brake_switch_prev = self.brake_switch
-    self.brake_switch_ts = cp.ts[0x17C]['BRAKE_SWITCH']
-
-    self.user_brake = cp.vl[0x1A4]['USER_BRAKE']
-    self.standstill = not cp.vl[0x1B0]['WHEELS_MOVING']
-    self.v_cruise_pcm = cp.vl[0x324]['CRUISE_SPEED_PCM']
-    self.pcm_acc_status = cp.vl[0x17C]['ACC_STATUS']
-    self.pedal_gas = cp.vl[0x17C]['PEDAL_GAS']
-    self.hud_lead = cp.vl[0x30C]['HUD_LEAD']
+    self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
+
+    self.user_brake = cp.vl["VSA_STATUS"]['USER_BRAKE']
+    self.standstill = not cp.vl["STANDSTILL"]['WHEELS_MOVING']
+    self.v_cruise_pcm = cp.vl["CRUISE"]['CRUISE_SPEED_PCM']
+    self.pcm_acc_status = cp.vl["POWERTRAIN_DATA"]['ACC_STATUS']
+    self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']
 
 
 # carstate standalone tester

selfdrive/car/honda/hondacan.py

@@ -2,6 +2,7 @@ import struct
 
 import common.numpy_fast as np
 from selfdrive.config import Conversions as CV
+from common.fingerprints import HONDA as CAR
 
 
 # *** Honda specific ***
@@ -15,16 +16,19 @@ def can_cksum(mm):
   s %= 0x10
   return s
 
+
 def fix(msg, addr):
   msg2 = msg[0:-1] + chr(ord(msg[-1]) | can_cksum(struct.pack("I", addr)+msg))
   return msg2
 
+
 def make_can_msg(addr, dat, idx, alt):
   if idx is not None:
     dat += chr(idx << 4)
     dat = fix(dat, addr)
   return [addr, 0, dat, alt]
 
+
 def create_brake_command(apply_brake, pcm_override, pcm_cancel_cmd, chime, idx):
   """Creates a CAN message for the Honda DBC BRAKE_COMMAND."""
   pump_on = apply_brake > 0
@@ -39,39 +43,17 @@ def create_brake_command(apply_brake, pcm_override, pcm_cancel_cmd, chime, idx):
                              brakelights << 7) + chr(chime) + "\x00"
   return make_can_msg(0x1fa, msg, idx, 0)
 
+
 def create_gas_command(gas_amount, idx):
   """Creates a CAN message for the Honda DBC GAS_COMMAND."""
   msg = struct.pack("!H", gas_amount)
   return make_can_msg(0x200, msg, idx, 0)
 
-def create_accord_steering_control(apply_steer, idx):
-  # TODO: doesn't work for some reason
-  if apply_steer == 0:
-    dat = [0, 0, 0x40, 0]
-  else:
-    dat = [0,0,0,0]
-    rp = np.clip(apply_steer/0xF, -0xFF, 0xFF)
-    if rp < 0:
-      rp += 512
-    dat[0] |= (rp >> 5) & 0xf
-    dat[1] |= (rp) & 0x1f
-  if idx == 1:
-    dat[0] |= 0x20
-  dat[1] |= 0x20  # always
-  dat[3] = -(dat[0]+dat[1]+dat[2]) & 0x7f
-
-  # not first byte
-  dat[1] |= 0x80
-  dat[2] |= 0x80
-  dat[3] |= 0x80
-  dat = ''.join(map(chr, dat))
-
-  return [0,0,dat,8]
-
-def create_steering_control(apply_steer, crv, idx):
+
+def create_steering_control(apply_steer, car_fingerprint, idx):
   """Creates a CAN message for the Honda DBC STEERING_CONTROL."""
   commands = []
-  if crv:
+  if car_fingerprint == CAR.CRV:
     msg_0x194 = struct.pack("!h", apply_steer << 4) + ("\x80" if apply_steer != 0 else "\x00")
     commands.append(make_can_msg(0x194, msg_0x194, idx, 0))
   else:
@@ -79,7 +61,8 @@ def create_steering_control(apply_steer, crv, idx):
     commands.append(make_can_msg(0xe4, msg_0xe4, idx, 0))
   return commands
 
-def create_ui_commands(pcm_speed, hud, civic, accord, crv, odyssey, idx):
+
+def create_ui_commands(pcm_speed, hud, car_fingerprint, idx):
   """Creates an iterable of CAN messages for the UIs."""
   commands = []
   pcm_speed_real = np.clip(int(round(pcm_speed / 0.002759506)), 0,
@@ -90,43 +73,36 @@ def create_ui_commands(pcm_speed, hud, civic, accord, crv, odyssey, idx):
 
   msg_0x33d = chr(hud.X5) + chr(hud.lanes) + chr(hud.beep) + chr(hud.X8)
   commands.append(make_can_msg(0x33d, msg_0x33d, idx, 0))
-  if civic or odyssey:  # 2 more msgs
+  if car_fingerprint in (CAR.CIVIC, CAR.ODYSSEY):
     msg_0x35e = chr(0) * 7
     commands.append(make_can_msg(0x35e, msg_0x35e, idx, 0))
-  if civic or accord or odyssey:
-    msg_0x39f = (
-      chr(0) * 2 + chr(hud.acc_alert) + chr(0) + chr(0xff) + chr(0x7f) + chr(0)
-    )
+    msg_0x39f = (chr(0) * 2 + chr(hud.acc_alert) + chr(0) + chr(0xff) + chr(0x7f) + chr(0))
     commands.append(make_can_msg(0x39f, msg_0x39f, idx, 0))
   return commands
 
-def create_radar_commands(v_ego, civic, accord, crv, odyssey, idx):
+
+def create_radar_commands(v_ego, car_fingerprint, idx):
   """Creates an iterable of CAN messages for the radar system."""
   commands = []
   v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
   speed = struct.pack('!B', v_ego_kph)
 
-  msg_0x300 = ("\xf9" + speed + "\x8a\xd0" +\
-                  ("\x20" if idx == 0 or idx == 3 else "\x00") +\
-                    "\x00\x00")
-  if civic:
+  msg_0x300 = ("\xf9" + speed + "\x8a\xd0" +
+               ("\x20" if idx == 0 or idx == 3 else "\x00") +
+               "\x00\x00")
+
+  if car_fingerprint == CAR.CIVIC:
     msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
-    # add 8 on idx.
-    commands.append(make_can_msg(0x300, msg_0x300, idx + 8, 1))
-  elif accord:
-    # 0300( 768)(    69) f9008ad0100000ef
-    # 0301( 769)(    69) 0ed8522256000029
-    msg_0x301 = "\x0e\xd8\x52\x22\x56\x00\x00"
-    # add 0xc on idx? WTF is this?
-    commands.append(make_can_msg(0x300, msg_0x300, idx + 0xc, 1))
-  elif crv:
+    commands.append(make_can_msg(0x300, msg_0x300, idx + 8, 1))  # add 8 on idx.
+  elif car_fingerprint == CAR.CRV:
     msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
     commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
-  elif odyssey:
+  elif car_fingerprint == CAR.ODYSSEY:
     msg_0x301 = "\x00\x00\x56\x02\x55\x00\x00"
     commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
-  else:
+  elif car_fingerprint == CAR.ACURA_ILX:
     msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
     commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
+
   commands.append(make_can_msg(0x301, msg_0x301, idx, 1))
   return commands

selfdrive/car/honda/interface.py

@@ -1,17 +1,16 @@
 #!/usr/bin/env python
 import os
 import numpy as np
+from cereal import car
 from common.numpy_fast import clip, interp
 from common.realtime import sec_since_boot
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from cereal import car
-from selfdrive.services import service_list
-import selfdrive.messaging as messaging
 from selfdrive.car.honda.carstate import CarState, get_can_parser
 from selfdrive.car.honda.values import CruiseButtons, CM, BP, AH
 from selfdrive.controls.lib.planner import A_ACC_MAX
+from common.fingerprints import HONDA as CAR
 
 try:
   from .carcontroller import CarController
@@ -100,11 +99,7 @@ class CarInterface(object):
       self.sendcan = sendcan
       self.CC = CarController(CP.enableCamera)
 
-    if self.CS.accord:
-      # self.accord_msg = []
-      raise NotImplementedError
-
-    if not self.CS.civic and not self.CS.odyssey:
+    if self.CS.CP.carFingerprint == CAR.ACURA_ILX:
       self.compute_gb = get_compute_gb_acura()
     else:
       self.compute_gb = compute_gb_honda
@@ -132,7 +127,6 @@ class CarInterface(object):
     ret = car.CarParams.new_message()
 
     ret.carName = "honda"
-    ret.radarName = "nidec"
     ret.carFingerprint = candidate
 
     ret.safetyModel = car.CarParams.SafetyModels.honda
@@ -157,7 +151,7 @@ class CarInterface(object):
     tireStiffnessFront_civic = 85400
     tireStiffnessRear_civic = 90000
 
-    if candidate == "HONDA CIVIC 2016 TOURING":
+    if candidate == CAR.CIVIC:
       stop_and_go = True
       ret.mass = mass_civic
       ret.wheelbase = wheelbase_civic
@@ -171,7 +165,7 @@ class CarInterface(object):
       ret.longitudinalKpV = [3.6, 2.4, 1.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.54, 0.36]
-    elif candidate == "ACURA ILX 2016 ACURAWATCH PLUS":
+    elif candidate == CAR.ACURA_ILX:
       stop_and_go = False
       ret.mass = 3095./2.205 + std_cargo
       ret.wheelbase = 2.67
@@ -185,19 +179,7 @@ class CarInterface(object):
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
-    elif candidate == "HONDA ACCORD 2016 TOURING":
-      stop_and_go = False
-      ret.mass = 3580./2.205 + std_cargo
-      ret.wheelbase = 2.74
-      ret.centerToFront = ret.wheelbase * 0.38
-      ret.steerRatio = 15.3
-      ret.steerKp, ret.steerKi = 0.8, 0.24
-
-      ret.longitudinalKpBP = [0., 5., 35.]
-      ret.longitudinalKpV = [1.2, 0.8, 0.5]
-      ret.longitudinalKiBP = [0., 35.]
-      ret.longitudinalKiV = [0.18, 0.12]
-    elif candidate == "HONDA CR-V 2016 TOURING":
+    elif candidate == CAR.CRV:
       stop_and_go = False
       ret.mass = 3572./2.205 + std_cargo
       ret.wheelbase = 2.62
@@ -209,7 +191,7 @@ class CarInterface(object):
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
-    elif candidate == "HONDA ODYSSEY 2018 EX-L":
+    elif candidate == CAR.ODYSSEY:
       stop_and_go = False
       ret.mass = 4354./2.205 + std_cargo
       ret.wheelbase = 3.00
@@ -303,7 +285,7 @@ class CarInterface(object):
     ret.brake = self.CS.user_brake
     ret.brakePressed = self.CS.brake_pressed != 0
     # FIXME: read sendcan for brakelights
-    brakelights_threshold = 0.02 if self.CS.civic else 0.1
+    brakelights_threshold = 0.02 if self.CS.CP.carFingerprint == CAR.CIVIC else 0.1
     ret.brakeLights = bool(self.CS.brake_switch or
                            c.actuators.brake > brakelights_threshold)
 
@@ -329,6 +311,9 @@ class CarInterface(object):
     ret.leftBlinker = bool(self.CS.left_blinker_on)
     ret.rightBlinker = bool(self.CS.right_blinker_on)
 
+    ret.doorOpen = not self.CS.door_all_closed
+    ret.seatbeltUnlatched = not self.CS.seatbelt
+
     if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
       be = car.CarState.ButtonEvent.new_message()
       be.type = 'leftBlinker'
@@ -393,9 +378,9 @@ class CarInterface(object):
       events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     if not ret.gearShifter == 'drive':
       events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not self.CS.door_all_closed:
+    if ret.doorOpen:
       events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not self.CS.seatbelt:
+    if ret.seatbeltUnlatched:
       events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if self.CS.esp_disabled:
       events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
@@ -424,7 +409,7 @@ class CarInterface(object):
     # TODO: for the Acura, cancellation below 25mph is normal. Issue a non loud alert
     if self.CP.enableCruise and not ret.cruiseState.enabled and c.actuators.brake <= 0.:
       events.append(create_event("cruiseDisabled", [ET.IMMEDIATE_DISABLE]))
-    if not self.CS.civic and ret.vEgo < 0.001:
+    if self.CS.CP.carFingerprint != CAR.CIVIC and ret.vEgo < 0.001:
       events.append(create_event('manualRestart', [ET.WARNING]))
 
     cur_time = sec_since_boot()

selfdrive/car/mock/interface.py

@@ -47,7 +47,6 @@ class CarInterface(object):
     ret = car.CarParams.new_message()
 
     ret.carName = "mock"
-    ret.radarName = "mock"
     ret.carFingerprint = candidate
 
     ret.safetyModel = car.CarParams.SafetyModels.noOutput

selfdrive/car/toyota/carcontroller.py

@@ -6,7 +6,8 @@ from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\
                                            create_steer_command, create_ui_command, \
                                            create_ipas_steer_command, create_accel_command, \
                                            create_fcw_command
-from selfdrive.car.toyota.values import CAR, ECU, STATIC_MSGS
+from selfdrive.car.toyota.values import ECU, STATIC_MSGS
+from common.fingerprints import TOYOTA as CAR
 
 
 ACCEL_HYST_GAP = 0.02  # don't change accel command for small oscilalitons within this value
@@ -17,10 +18,7 @@ ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)
 STEER_MAX = 1500
 STEER_DELTA_UP = 10        # 1.5s time to peak torque
 STEER_DELTA_DOWN = 25      # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
-STEER_ERROR_MAX = 500      # max delta between torque cmd and torque motor
-
-STEER_IPAS_MAX = 340
-STEER_IPAS_DELTA_MAX = 3
+STEER_ERROR_MAX = 350      # max delta between torque cmd and torque motor
 
 TARGET_IDS = [0x340, 0x341, 0x342, 0x343, 0x344, 0x345,
               0x363, 0x364, 0x365, 0x370, 0x371, 0x372,

selfdrive/car/toyota/carstate.py

@@ -1,12 +1,14 @@
 import os
 import selfdrive.messaging as messaging
-from selfdrive.car.toyota.values import CAR
+from common.fingerprints import TOYOTA as CAR
 from selfdrive.can.parser import CANParser
 from selfdrive.config import Conversions as CV
+from common.kalman.simple_kalman import KF1D
 import numpy as np
 
-def parse_gear_shifter(can_gear, car_fingerprint):
 
+def parse_gear_shifter(can_gear, car_fingerprint):
+  # TODO: Use values from DBC to parse this field
   if car_fingerprint == CAR.PRIUS:
     if can_gear == 0x0:
       return "park"
@@ -18,7 +20,7 @@ def parse_gear_shifter(can_gear, car_fingerprint):
       return "drive"
     elif can_gear == 0x4:
       return "brake"
-  elif car_fingerprint in [CAR.RAV4, CAR.RAV4H]:
+  elif car_fingerprint in [CAR.RAV4, CAR.RAV4H, CAR.COROLLA]:
     if can_gear == 0x20:
       return "park"
     elif can_gear == 0x10:
@@ -36,74 +38,53 @@ def parse_gear_shifter(can_gear, car_fingerprint):
 def get_can_parser(CP):
   # this function generates lists for signal, messages and initial values
   if CP.carFingerprint == CAR.PRIUS:
-    dbc_f = 'toyota_prius_2017_pt.dbc'
-    signals = [
-      ("GEAR", 295, 0),
-      ("BRAKE_PRESSED", 550, 0),
-      ("GAS_PEDAL", 581, 0),
-    ]
-    checks = [
-      (550, 40),
-      (581, 33)
-    ]
+    dbc_f = 'toyota_prius_2017_pt_generated.dbc'
   elif CP.carFingerprint == CAR.RAV4H:
-    dbc_f = 'toyota_rav4_hybrid_2017_pt.dbc'
-    signals = [
-      ("GEAR", 956, 0),
-      ("BRAKE_PRESSED", 550, 0),
-      ("GAS_PEDAL", 581, 0),
-    ]
-    checks = [
-      (550, 40),
-      (581, 33)
-    ]
+    dbc_f = 'toyota_rav4_hybrid_2017_pt_generated.dbc'
   elif CP.carFingerprint == CAR.RAV4:
-    dbc_f = 'toyota_rav4_2017_pt.dbc'
-    signals = [
-      ("GEAR", 956, 0x20),
-      ("BRAKE_PRESSED", 548, 0),
-      ("GAS_PEDAL", 705, 0),
-    ]
-    checks = [
-      (548, 40),
-      (705, 33)
-    ]
-
-  # TODO: DOORS, GAS_PEDAL, BRAKE_PRESSED for RAV4
-  signals += [
+    dbc_f = 'toyota_rav4_2017_pt_generated.dbc'
+  elif CP.carFingerprint == CAR.COROLLA:
+    dbc_f = 'toyota_corolla_2017_pt_generated.dbc'
+
+  signals = [
     # sig_name, sig_address, default
-    ("WHEEL_SPEED_FL", 170, 0),
-    ("WHEEL_SPEED_FR", 170, 0),
-    ("WHEEL_SPEED_RL", 170, 0),
-    ("WHEEL_SPEED_RR", 170, 0),
-    ("DOOR_OPEN_FL", 1568, 1),
-    ("DOOR_OPEN_FR", 1568, 1),
-    ("DOOR_OPEN_RL", 1568, 1),
-    ("DOOR_OPEN_RR", 1568, 1),
-    ("SEATBELT_DRIVER_UNLATCHED", 1568, 1),
-    ("TC_DISABLED", 951, 1),
-    ("STEER_ANGLE", 37, 0),
-    ("STEER_FRACTION", 37, 0),
-    ("STEER_RATE", 37, 0),
-    ("GAS_RELEASED", 466, 0),
-    ("CRUISE_STATE", 466, 0),
-    ("MAIN_ON", 467, 0),
-    ("SET_SPEED", 467, 0),
-    ("LOW_SPEED_LOCKOUT", 467, 0),
-    ("STEER_TORQUE_DRIVER", 608, 0),
-    ("STEER_TORQUE_EPS", 608, 0),
-    ("TURN_SIGNALS", 1556, 3),   # 3 is no blinkers
-    ("LKA_STATE", 610, 0),
-    ("BRAKE_LIGHTS_ACC", 951, 0),
+    ("GEAR", "GEAR_PACKET", 0),
+    ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
+    ("GAS_PEDAL", "GAS_PEDAL", 0),
+    ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
+    ("DOOR_OPEN_FL", "SEATS_DOORS", 1),
+    ("DOOR_OPEN_FR", "SEATS_DOORS", 1),
+    ("DOOR_OPEN_RL", "SEATS_DOORS", 1),
+    ("DOOR_OPEN_RR", "SEATS_DOORS", 1),
+    ("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
+    ("TC_DISABLED", "ESP_CONTROL", 1),
+    ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
+    ("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
+    ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
+    ("GAS_RELEASED", "PCM_CRUISE", 0),
+    ("CRUISE_STATE", "PCM_CRUISE", 0),
+    ("MAIN_ON", "PCM_CRUISE_2", 0),
+    ("SET_SPEED", "PCM_CRUISE_2", 0),
+    ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+    ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
+    ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
+    ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
+    ("LKA_STATE", "EPS_STATUS", 0),
+    ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
   ]
 
-  checks += [
-    (170, 80),
-    (37, 80),
-    (466, 33),
-    (467, 33),
-    (608, 50),
-    (610, 25),
+  checks = [
+    ("BRAKE_MODULE", 40),
+    ("GAS_PEDAL", 33),
+    ("WHEEL_SPEEDS", 80),
+    ("STEER_ANGLE_SENSOR", 80),
+    ("PCM_CRUISE", 33),
+    ("PCM_CRUISE_2", 33),
+    ("STEER_TORQUE_SENSOR", 50),
+    ("EPS_STATUS", 25),
   ]
 
   return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 0)
@@ -121,82 +102,68 @@ class CarState(object):
 
     # vEgo kalman filter
     dt = 0.01
-    self.v_ego_x = np.matrix([[0.0], [0.0]])
-    self.v_ego_A = np.matrix([[1.0, dt], [0.0, 1.0]])
-    self.v_ego_C = np.matrix([1.0, 0.0])
-    self.v_ego_Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
-    self.v_ego_R = 1e3
+    # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
+    # R = 1e3
+    self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]),
+                         A=np.matrix([[1.0, dt], [0.0, 1.0]]),
+                         C=np.matrix([1.0, 0.0]),
+                         K=np.matrix([[0.12287673], [0.29666309]]))
     self.v_ego = 0.0
-    # import control
-    # (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R)
-    # self.v_ego_K = np.transpose(K)
-    self.v_ego_K = np.matrix([[0.12287673], [0.29666309]])
 
   def update(self, cp):
-
     # copy can_valid
     self.can_valid = cp.can_valid
 
-    if self.car_fingerprint == CAR.PRIUS:
-      can_gear = cp.vl[295]['GEAR']
-      self.brake_pressed = cp.vl[550]['BRAKE_PRESSED']
-      self.pedal_gas = cp.vl[581]['GAS_PEDAL']
-    elif self.car_fingerprint == CAR.RAV4H:
-      can_gear = cp.vl[956]['GEAR']
-      self.brake_pressed = cp.vl[550]['BRAKE_PRESSED']
-      self.pedal_gas = cp.vl[581]['GAS_PEDAL']
-    elif self.car_fingerprint == CAR.RAV4:
-      can_gear = cp.vl[956]['GEAR']
-      self.brake_pressed = cp.vl[548]['BRAKE_PRESSED']
-      self.pedal_gas = cp.vl[705]['GAS_PEDAL']
-
     # update prevs, update must run once per loop
     self.prev_left_blinker_on = self.left_blinker_on
     self.prev_right_blinker_on = self.right_blinker_on
 
-    # ******************* parse out can *******************
-    self.door_all_closed = not any([cp.vl[1568]['DOOR_OPEN_FL'], cp.vl[1568]['DOOR_OPEN_FR'],
-                                    cp.vl[1568]['DOOR_OPEN_RL'], cp.vl[1568]['DOOR_OPEN_RR']])
-    self.seatbelt = not cp.vl[1568]['SEATBELT_DRIVER_UNLATCHED']
-    # whitelist instead of blacklist, safer at the expense of disengages
+    self.door_all_closed = not any([cp.vl["SEATS_DOORS"]['DOOR_OPEN_FL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_FR'],
+                                    cp.vl["SEATS_DOORS"]['DOOR_OPEN_RL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_RR']])
+    self.seatbelt = not cp.vl["SEATS_DOORS"]['SEATBELT_DRIVER_UNLATCHED']
+
     self.steer_error = False
     self.brake_error = 0
-    self.esp_disabled = cp.vl[951]['TC_DISABLED']
+
+    can_gear = cp.vl["GEAR_PACKET"]['GEAR']
+    self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
+    self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
+    self.car_gas = self.pedal_gas
+    self.esp_disabled = cp.vl["ESP_CONTROL"]['TC_DISABLED']
+
     # calc best v_ego estimate, by averaging two opposite corners
-    self.v_wheel_fl = cp.vl[170]['WHEEL_SPEED_FL']
-    self.v_wheel_fr = cp.vl[170]['WHEEL_SPEED_FR']
-    self.v_wheel_rl = cp.vl[170]['WHEEL_SPEED_RL']
-    self.v_wheel_rr = cp.vl[170]['WHEEL_SPEED_RR']
-    self.v_wheel = (
-      cp.vl[170]['WHEEL_SPEED_FL'] + cp.vl[170]['WHEEL_SPEED_FR'] +
-      cp.vl[170]['WHEEL_SPEED_RL'] + cp.vl[170]['WHEEL_SPEED_RR']) / 4. * CV.KPH_TO_MS
+    self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS
+    self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
+    self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
+    self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
+    self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
 
     # Kalman filter
     if abs(self.v_wheel - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed
       self.v_ego_x = np.matrix([[self.v_wheel], [0.0]])
-    self.v_ego_x = np.dot((self.v_ego_A - np.dot(self.v_ego_K, self.v_ego_C)), self.v_ego_x) + np.dot(self.v_ego_K, self.v_wheel)
+
     self.v_ego_raw = self.v_wheel
-    self.v_ego = float(self.v_ego_x[0])
-    self.a_ego = float(self.v_ego_x[1])
+    v_ego_x = self.v_ego_kf.update(self.v_wheel)
+    self.v_ego = float(v_ego_x[0])
+    self.a_ego = float(v_ego_x[1])
     self.standstill = not self.v_wheel > 0.001
 
-    self.angle_steers = cp.vl[37]['STEER_ANGLE'] + cp.vl[37]['STEER_FRACTION']
-    self.angle_steers_rate = cp.vl[37]['STEER_RATE']
+    self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
+    self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
     self.gear_shifter = parse_gear_shifter(can_gear, self.car_fingerprint)
-    self.main_on = cp.vl[467]['MAIN_ON']
-    self.left_blinker_on = cp.vl[1556]['TURN_SIGNALS'] == 1
-    self.right_blinker_on = cp.vl[1556]['TURN_SIGNALS'] == 2
+    self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
+    self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
+    self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
 
     # we could use the override bit from dbc, but it's triggered at too high torque values
-    self.steer_override = abs(cp.vl[608]['STEER_TORQUE_DRIVER']) > 100
-    self.steer_error = cp.vl[610]['LKA_STATE'] == 50
-    self.steer_torque_driver = cp.vl[608]['STEER_TORQUE_DRIVER']
-    self.steer_torque_motor = cp.vl[608]['STEER_TORQUE_EPS']
+    self.steer_override = abs(cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']) > 100
+    self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] == 50
+    self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
+    self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
 
     self.user_brake = 0
-    self.v_cruise_pcm = cp.vl[467]['SET_SPEED']
-    self.pcm_acc_status = cp.vl[466]['CRUISE_STATE']
-    self.car_gas = self.pedal_gas
-    self.gas_pressed = not cp.vl[466]['GAS_RELEASED']
-    self.low_speed_lockout = cp.vl[467]['LOW_SPEED_LOCKOUT'] == 2
-    self.brake_lights = bool(cp.vl[951]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
+    self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
+    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+    self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
+    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+    self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)

selfdrive/car/toyota/interface.py

@@ -9,12 +9,15 @@ import selfdrive.messaging as messaging
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.toyota.carstate import CarState, get_can_parser
-from selfdrive.car.toyota.values import CAR, ECU, check_ecu_msgs
+from selfdrive.car.toyota.values import ECU, check_ecu_msgs
+from common.fingerprints import TOYOTA as CAR
+
 try:
   from selfdrive.car.toyota.carcontroller import CarController
 except ImportError:
   CarController = None
 
+
 class CarInterface(object):
   def __init__(self, CP, sendcan=None):
     self.CP = CP
@@ -53,7 +56,6 @@ class CarInterface(object):
     ret = car.CarParams.new_message()
 
     ret.carName = "toyota"
-    ret.radarName = "toyota"
     ret.carFingerprint = candidate
 
     ret.safetyModel = car.CarParams.SafetyModels.toyota
@@ -74,12 +76,30 @@ class CarInterface(object):
     tireStiffnessFront_civic = 85400
     tireStiffnessRear_civic = 90000
 
-    ret.mass = 3045./2.205 + std_cargo
-    ret.wheelbase = 2.70 if candidate == CAR.PRIUS else 2.65
+    if candidate == CAR.PRIUS:
+      ret.safetyParam = 66  # see conversion factor for STEER_TORQUE_EPS in dbc file
+      ret.wheelbase = 2.70
+      ret.steerRatio = 14.5 #TODO: find exact value for Prius
+      ret.mass = 3045./2.205 + std_cargo
+    elif candidate in [CAR.RAV4, CAR.RAV4H]:
+      ret.safetyParam = 73  # see conversion factor for STEER_TORQUE_EPS in dbc file
+      ret.wheelbase = 2.65
+      ret.steerRatio = 14.5 # Rav4 2017
+      ret.mass = 3650./2.205 + std_cargo  # mean between normal and hybrid
+    elif candidate == CAR.COROLLA:
+      ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
+      ret.wheelbase = 2.70
+      ret.steerRatio = 17.8
+      ret.mass = 2860./2.205 + std_cargo  # mean between normal and hybrid
+
     ret.centerToFront = ret.wheelbase * 0.44
-    ret.steerRatio = 14.5 #Rav4 2017, TODO: find exact value for Prius
-    ret.steerKp, ret.steerKi = 0.6, 0.05
-    ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
+
+    if candidate == CAR.COROLLA:
+      ret.steerKp, ret.steerKi = 0.2, 0.05
+      ret.steerKf = 0.00003   # full torque for 20 deg at 80mph means 0.00007818594
+    else:
+      ret.steerKp, ret.steerKi = 0.6, 0.05
+      ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
 
     ret.longPidDeadzoneBP = [0., 9.]
     ret.longPidDeadzoneV = [0., .15]
@@ -88,7 +108,7 @@ class CarInterface(object):
     # to a negative value, so it won't matter.
     if candidate in [CAR.PRIUS, CAR.RAV4H]: # rav4 hybrid can do stop and go
       ret.minEnableSpeed = -1.
-    elif candidate == CAR.RAV4:   # TODO: hack ICE Rav4 to do stop and go
+    elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS
 
     centerToRear = ret.wheelbase - ret.centerToFront
@@ -134,9 +154,9 @@ class CarInterface(object):
     ret.longitudinalKiBP = [0., 35.]
     ret.longitudinalKiV = [0.54, 0.36]
 
-    if candidate == CAR.PRIUS:
+    if candidate in [CAR.PRIUS]:
       ret.steerRateCost = 2.
-    elif candidate in [CAR.RAV4, CAR.RAV4H]:
+    elif candidate in [CAR.RAV4, CAR.RAV4H, CAR.COROLLA]:
       ret.steerRateCost = 1.
 
     return ret
@@ -194,7 +214,7 @@ class CarInterface(object):
       # receiving any special command
       ret.cruiseState.standstill = False
     else:
-      ret.cruiseState.standstill = self.CS.pcm_acc_status == 7  
+      ret.cruiseState.standstill = self.CS.pcm_acc_status == 7
 
     # TODO: button presses
     buttonEvents = []
@@ -215,6 +235,9 @@ class CarInterface(object):
     ret.leftBlinker = bool(self.CS.left_blinker_on)
     ret.rightBlinker = bool(self.CS.right_blinker_on)
 
+    ret.doorOpen = not self.CS.door_all_closed
+    ret.seatbeltUnlatched = not self.CS.seatbelt
+
     # events
     events = []
     if not self.CS.can_valid:
@@ -225,9 +248,9 @@ class CarInterface(object):
       self.can_invalid_count = 0
     if not ret.gearShifter == 'drive' and self.CP.enableDsu:
       events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not self.CS.door_all_closed:
+    if ret.doorOpen:
       events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not self.CS.seatbelt:
+    if ret.seatbeltUnlatched:
       events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if self.CS.esp_disabled and self.CP.enableDsu:
       events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))

selfdrive/car/toyota/values.py

@@ -1,64 +1,61 @@
-class CAR: 
-  PRIUS = "TOYOTA PRIUS 2017"
-  RAV4H = "TOYOTA RAV4 2017 HYBRID"
-  RAV4 = "TOYOTA RAV4 2017"
+from common.fingerprints import TOYOTA as CAR
 
+class ECU:
+  CAM = 0 # camera
+  DSU = 1 # driving support unit
+  APGS = 2 # advanced parking guidance system
 
-class ECU: 
-  CAM = 0 # camera 
-  DSU = 1 # driving support unit 
-  APGS = 2 # advanced parking guidance system 
 
+# addr: (ecu, cars, bus, 1/freq*100, vl)
+STATIC_MSGS = {0x141: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   2, '\x00\x00\x00\x46'),
+               0x128: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
 
-# addr, [ecu, bus, 1/freq*100, vl]
-STATIC_MSGS = {0x141: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1,   2, '\x00\x00\x00\x46'),
-               0x128: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
-
-               0x292: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0,   3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
-               0x283: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0,   3, '\x00\x00\x00\x00\x00\x00\x8c'),
+               0x292: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0,   3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
+               0x283: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0,   3, '\x00\x00\x00\x00\x00\x00\x8c'),
                0x2E6: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0,   3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
                0x2E7: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0,   3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
 
-               0x240: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-               0x241: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-               0x244: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-               0x245: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-               0x248: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
-               0x344: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0,   5, '\x00\x00\x01\x00\x00\x00\x00\x50'),
+               0x240: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+               0x241: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+               0x244: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+               0x245: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+               0x248: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
+               0x344: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0,   5, '\x00\x00\x01\x00\x00\x00\x00\x50'),
 
-               0x160: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1,   7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
-               0x161: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1,   7, '\x00\x1e\x00\x00\x00\x80\x07'),
+               0x160: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
+               0x161: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   7, '\x00\x1e\x00\x00\x00\x80\x07'),
 
-               0x32E: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0,  20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
+               0x32E: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0,  20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
                0x33E: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0,  20, '\x0f\xff\x26\x40\x00\x1f\x00'),
                0x365: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0,  20, '\x00\x00\x00\x80\x03\x00\x08'),
-               0x365: (ECU.DSU, (CAR.RAV4,), 0,  20, '\x00\x00\x00\x80\xfc\x00\x08'),
+               0x365: (ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0,  20, '\x00\x00\x00\x80\xfc\x00\x08'),
                0x366: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0,  20, '\x00\x00\x4d\x82\x40\x02\x00'),
-               0x366: (ECU.DSU, (CAR.RAV4,), 0,  20, '\x00\x72\x07\xff\x09\xfe\x00'),
+               0x366: (ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0,  20, '\x00\x72\x07\xff\x09\xfe\x00'),
 
-               0x367: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0,  40, '\x06\x00'),
+               0x367: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0,  40, '\x06\x00'),
 
-               0x414: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
-               0x489: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-               0x48a: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-               0x48b: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
-               0x4d3: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
-               0x130: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
+               0x414: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
+               0x489: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+               0x48a: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+               0x48b: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
+               0x4d3: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
+               0x130: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
                0x466: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 100, '\x20\x20\xAD'),
-               0x396: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
-               0x43A: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
-               0x43B: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
-               0x497: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
-               0x4CC: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
-               0x4CB: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
+               0x466: (ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
+               0x396: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
+               0x43A: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
+               0x43B: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
+               0x497: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
+               0x4CC: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
+               0x4CB: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
                0x470: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 1, 100, '\x00\x00\x02\x7a'),
               }
 
 
 def check_ecu_msgs(fingerprint, candidate, ecu):
   # return True if fingerprint contains messages normally sent by a given ecu
-  ecu_msgs = [x for x in STATIC_MSGS if (ecu == STATIC_MSGS[x][0] and 
-                                         candidate in STATIC_MSGS[x][1] and 
+  ecu_msgs = [x for x in STATIC_MSGS if (ecu == STATIC_MSGS[x][0] and
+                                         candidate in STATIC_MSGS[x][1] and
                                          STATIC_MSGS[x][2] == 0)]
 
   return any(msg for msg in fingerprint if msg in ecu_msgs)

selfdrive/common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.4.0.2-openpilot"
+#define COMMA_VERSION "0.4.1-openpilot"

selfdrive/controls/radard.py

@@ -3,6 +3,7 @@ import os
 import zmq
 import numpy as np
 import numpy.matlib
+import importlib
 from collections import defaultdict
 from fastcluster import linkage_vector
 import selfdrive.messaging as messaging
@@ -49,14 +50,13 @@ def radard_thread(gctx=None):
   # wait for stats about the car to come in from controls
   cloudlog.info("radard is waiting for CarParams")
   CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
-  mocked= CP.radarName == "mock"
+  mocked = CP.carName == "mock"
   VM = VehicleModel(CP)
   cloudlog.info("radard got CarParams")
 
   # import the radar from the fingerprint
-  cloudlog.info("radard is importing %s", CP.radarName)
-  exec('from selfdrive.radar.'+CP.radarName+'.interface import RadarInterface')
-
+  cloudlog.info("radard is importing %s", CP.carName)
+  RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % CP.carName).RadarInterface
   context = zmq.Context()
 
   # *** subscribe to features and model from visiond

selfdrive/debug/dump.py

@@ -16,6 +16,7 @@ if __name__ == "__main__":
   parser.add_argument('--pipe', action='store_true')
   parser.add_argument('--raw', action='store_true')
   parser.add_argument('--json', action='store_true')
+  parser.add_argument('--dump-json', action='store_true')
   parser.add_argument('--addr', default='127.0.0.1')
   parser.add_argument("socket", type=str, nargs='*', help="socket name")
   args = parser.parse_args()
@@ -41,6 +42,8 @@ if __name__ == "__main__":
         hexdump(sock.recv())
       elif args.json:
         print(json.loads(sock.recv()))
+      elif args.dump_json:
+        print json.dumps(messaging.recv_one(sock).to_dict())
       else:
         print messaging.recv_one(sock)
 

selfdrive/service_list.yaml

@@ -53,6 +53,12 @@ trimbleGnss: [8041, true]
 ubloxRaw: [8042, true]
 gpsPlannerPoints: [8043, true]
 gpsPlannerPlan: [8044, true]
+applanixRaw: [8046, true]
+orbLocation: [8047, true]
+trafficSigns: [8048, true]
+liveLocationTiming: [8049, true]
+orbslamCorrection: [8050, true]
+liveLocationCorrected: [8051, true]
 
 testModel: [8040, false]
 testLiveLocation: [8045, false]

selfdrive/test/plant/plant.py

@@ -8,11 +8,12 @@ import numpy as np
 from opendbc import DBC_PATH
 
 from common.realtime import Ratekeeper
-
+from selfdrive.config import Conversions as CV
 import selfdrive.messaging as messaging
 from selfdrive.services import service_list
 from selfdrive.config import CruiseButtons
 from selfdrive.car.honda.hondacan import fix
+from common.fingerprints import HONDA as CAR
 from selfdrive.car.honda.carstate import get_can_signals
 from selfdrive.boardd.boardd import can_capnp_to_can_list, can_list_to_can_capnp
 
@@ -21,10 +22,10 @@ from selfdrive.car.honda.interface import CarInterface
 
 from cereal import car
 from common.dbc import dbc
-honda = dbc(os.path.join(DBC_PATH, "honda_civic_touring_2016_can.dbc"))
+honda = dbc(os.path.join(DBC_PATH, "honda_civic_touring_2016_can_generated.dbc"))
 
 # Trick: set 0x201 (interceptor) in fingerprints for gas is controlled like if there was an interceptor
-CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING", {0x201})
+CP = CarInterface.get_params(CAR.CIVIC, {0x201})
 
 
 def car_plant(pos, speed, grade, gas, brake):
@@ -66,7 +67,7 @@ def car_plant(pos, speed, grade, gas, brake):
   return speed, acceleration
 
 def get_car_can_parser():
-  dbc_f = 'honda_civic_touring_2016_can.dbc'
+  dbc_f = 'honda_civic_touring_2016_can_generated.dbc'
   signals = [
     ("STEER_TORQUE", 0xe4, 0),
     ("STEER_TORQUE_REQUEST", 0xe4, 0),
@@ -92,7 +93,6 @@ class Plant(object):
 
   def __init__(self, lead_relevancy=False, rate=100, speed=0.0, distance_lead=2.0):
     self.rate = rate
-    self.civic = True
     self.brake_only = False
 
     if not Plant.messaging_initialized:
@@ -143,7 +143,7 @@ class Plant(object):
     if speed<0.3:
       return 0
     else:
-      return speed
+      return speed * CV.MS_TO_KPH
 
   def current_time(self):
     return float(self.rk.frame) / self.rate
@@ -217,15 +217,32 @@ class Plant(object):
 
     # ******** publish the car ********
     vls = [self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed),
-           self.angle_steer, self.angle_steer_rate, 0, self.gear_choice, speed!=0,
-           0, 0, 0, 0,
-           self.v_cruise, not self.seatbelt, self.seatbelt, self.brake_pressed, 0.,
-           self.user_gas, cruise_buttons, self.esp_disabled, 0,
-           self.user_brake, self.steer_error, self.brake_error,
-           self.brake_error, self.gear_shifter, self.main_on, self.acc_status,
-           self.pedal_gas, self.cruise_setting,
-           # append one more zero for gas interceptor
-           0,0,0,0,0,0]
+           self.angle_steer, self.angle_steer_rate, 0,
+           0, 0, 0, 0,  # Doors
+           0, 0,  # Blinkers
+           0,  # Cruise speed offset
+           self.gear_choice,
+           speed != 0,
+           self.brake_error, self.brake_error,
+           self.v_cruise,
+           not self.seatbelt, self.seatbelt,  # Seatbelt
+           self.brake_pressed, 0.,
+           cruise_buttons,
+           self.esp_disabled,
+           0,  # HUD lead
+           self.user_brake,
+           self.steer_error,
+           self.gear_shifter,
+           self.pedal_gas,
+           self.cruise_setting,
+           self.acc_status,
+           self.user_gas,
+           self.main_on,
+           0,  # EPB State
+           0,  # Brake hold
+           0,  # Interceptor feedback
+           # 0,
+    ]
 
     # TODO: publish each message at proper frequency
     can_msgs = []
@@ -238,6 +255,7 @@ class Plant(object):
       if "COUNTER" in honda.get_signals(msg):
         msg_struct["COUNTER"] = self.rk.frame % 4
 
+      msg = honda.lookup_msg_id(msg)
       msg_data = honda.encode(msg, msg_struct)
 
       if "CHECKSUM" in honda.get_signals(msg):
@@ -302,4 +320,3 @@ def plant_thread(rate=100):
 
 if __name__ == "__main__":
   plant_thread()
-