From 906c07f3e6932da99216a38d7c8aac6475b52b39 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 25 May 2023 23:12:50 -0700
Subject: [PATCH] Nissan: explicitly copy signals to forward (#28305)

* nissan

* missing counter

* add comment from carstate
old-commit-hash: 26baac2ff4a57fa8dc7de46bd1292f2734a4d179
---
 selfdrive/car/nissan/carcontroller.py |  1 +
 selfdrive/car/nissan/nissancan.py     | 97 +++++++++++++++++++++++++--
 2 files changed, 93 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 5064e8c45..4e99d2490 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -63,6 +63,7 @@ class CarController:
     can_sends.append(nissancan.create_steering_control(
       self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque))
 
+    # Below are the HUD messages. We copy the stock message and modify
     if self.CP.carFingerprint != CAR.ALTIMA:
       if self.frame % 2 == 0:
         can_sends.append(nissancan.create_lkas_hud_msg(
diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py
index 01fb3463a..89754775b 100644
--- a/selfdrive/car/nissan/nissancan.py
+++ b/selfdrive/car/nissan/nissancan.py
@@ -1,4 +1,3 @@
-import copy
 import crcmod
 from selfdrive.car.nissan.values import CAR
 
@@ -23,7 +22,23 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu
 
 
 def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
-  values = copy.copy(cruise_throttle_msg)
+  values = {s: cruise_throttle_msg[s] for s in [
+    "COUNTER",
+    "PROPILOT_BUTTON",
+    "CANCEL_BUTTON",
+    "GAS_PEDAL_INVERTED",
+    "SET_BUTTON",
+    "RES_BUTTON",
+    "FOLLOW_DISTANCE_BUTTON",
+    "NO_BUTTON_PRESSED",
+    "GAS_PEDAL",
+    "USER_BRAKE_PRESSED",
+    "NEW_SIGNAL_2",
+    "GAS_PRESSED_INVERTED",
+    "unsure1",
+    "unsure2",
+    "unsure3",
+  ]}
   can_bus = 1 if car_fingerprint == CAR.ALTIMA else 2
 
   values["CANCEL_BUTTON"] = 1
@@ -37,7 +52,12 @@ def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
 
 
 def create_cancel_msg(packer, cancel_msg, cruise_cancel):
-  values = copy.copy(cancel_msg)
+  values = {s: cancel_msg[s] for s in [
+    "CANCEL_SEATBELT",
+    "NEW_SIGNAL_1",
+    "NEW_SIGNAL_2",
+    "NEW_SIGNAL_3",
+  ]}
 
   if cruise_cancel:
     values["CANCEL_SEATBELT"] = 1
@@ -46,7 +66,34 @@ def create_cancel_msg(packer, cancel_msg, cruise_cancel):
 
 
 def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart):
-  values = lkas_hud_msg
+  values = {s: lkas_hud_msg[s] for s in [
+    "LARGE_WARNING_FLASHING",
+    "SIDE_RADAR_ERROR_FLASHING1",
+    "SIDE_RADAR_ERROR_FLASHING2",
+    "LEAD_CAR",
+    "LEAD_CAR_ERROR",
+    "FRONT_RADAR_ERROR",
+    "FRONT_RADAR_ERROR_FLASHING",
+    "SIDE_RADAR_ERROR_FLASHING3",
+    "LKAS_ERROR_FLASHING",
+    "SAFETY_SHIELD_ACTIVE",
+    "RIGHT_LANE_GREEN_FLASH",
+    "LEFT_LANE_GREEN_FLASH",
+    "FOLLOW_DISTANCE",
+    "AUDIBLE_TONE",
+    "SPEED_SET_ICON",
+    "SMALL_STEERING_WHEEL_ICON",
+    "unknown59",
+    "unknown55",
+    "unknown26",
+    "unknown28",
+    "unknown31",
+    "SET_SPEED",
+    "unknown43",
+    "unknown08",
+    "unknown05",
+    "unknown02",
+  ]}
 
   values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0
   values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0
@@ -59,7 +106,47 @@ def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, le
 
 
 def create_lkas_hud_info_msg(packer, lkas_hud_info_msg, steer_hud_alert):
-  values = lkas_hud_info_msg
+  values = {s: lkas_hud_info_msg[s] for s in [
+    "NA_HIGH_ACCEL_TEMP",
+    "SIDE_RADAR_NA_HIGH_CABIN_TEMP",
+    "SIDE_RADAR_MALFUNCTION",
+    "LKAS_MALFUNCTION",
+    "FRONT_RADAR_MALFUNCTION",
+    "SIDE_RADAR_NA_CLEAN_REAR_CAMERA",
+    "NA_POOR_ROAD_CONDITIONS",
+    "CURRENTLY_UNAVAILABLE",
+    "SAFETY_SHIELD_OFF",
+    "FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION",
+    "PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED",
+    "SIDE_IMPACT_NA_RADAR_OBSTRUCTION",
+    "WARNING_DO_NOT_ENTER",
+    "SIDE_IMPACT_SYSTEM_OFF",
+    "SIDE_IMPACT_MALFUNCTION",
+    "FRONT_COLLISION_MALFUNCTION",
+    "SIDE_RADAR_MALFUNCTION2",
+    "LKAS_MALFUNCTION2",
+    "FRONT_RADAR_MALFUNCTION2",
+    "PROPILOT_NA_MSGS",
+    "BOTTOM_MSG",
+    "HANDS_ON_WHEEL_WARNING",
+    "WARNING_STEP_ON_BRAKE_NOW",
+    "PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED",
+    "PROPILOT_NA_HIGH_CABIN_TEMP",
+    "WARNING_PROPILOT_MALFUNCTION",
+    "ACC_UNAVAILABLE_HIGH_CABIN_TEMP",
+    "ACC_NA_FRONT_CAMERA_IMPARED",
+    "unknown07",
+    "unknown10",
+    "unknown15",
+    "unknown23",
+    "unknown19",
+    "unknown31",
+    "unknown32",
+    "unknown46",
+    "unknown61",
+    "unknown55",
+    "unknown50",
+  ]}
 
   if steer_hud_alert:
     values["HANDS_ON_WHEEL_WARNING"] = 1