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Honda Bosch longitudinal prerequisites (#21217)

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* untested changes

* set compute_gb

* community feature for good measure

* add code for rolling backwards

* init needs CarParams

* stay in elm mode until carParams is written

* fix tester present bus number

* fix can errors

* fix enableCruise flag

* print when radar disable is done

* move retry logic to controlsd

* move lookup table into carcontroller params

* cleanup brake error values

* make init return

* that should be 1

* floats

* back to no failure handling

* try simplify knockout

* bump panda

* Move flags to panda

* add warnings

* Revert "try simplify knockout"

This reverts commit 4f496245791ea6bd041d4412b96035c6b434b91c.

* add note about LoC.long_control_state

* update ref
pull/69/head
Willem Melching 4 years ago committed by GitHub
parent 698b9af8a9
commit a8fac002ae
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10 changed files with 133 additions and 57 deletions
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  1. 20
      selfdrive/boardd/boardd.cc
  2. 20
      selfdrive/car/honda/carcontroller.py
  3. 54
      selfdrive/car/honda/carstate.py
  4. 32
      selfdrive/car/honda/hondacan.py
  5. 50
      selfdrive/car/honda/interface.py
  6. 6
      selfdrive/car/honda/values.py
  7. 4
      selfdrive/car/interfaces.py
  8. 1
      selfdrive/common/params.cc
  9. 1
      selfdrive/controls/controlsd.py
  10. 2
      selfdrive/test/process_replay/ref_commit

20
selfdrive/boardd/boardd.cc
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@ -49,26 +49,6 @@ void safety_setter_thread() {
Params p = Params();
// switch to SILENT when CarVin param is read
while (true) {
if (do_exit || !panda->connected) {
safety_setter_thread_running = false;
return;
};
std::string value_vin = p.get("CarVin");
if (value_vin.size() > 0) {
// sanity check VIN format
assert(value_vin.size() == 17);
LOGW("got CarVin %s", value_vin.c_str());
break;
}
util::sleep_for(100);
}
// VIN query done, stop listening to OBDII
panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
std::string params;
LOGW("waiting for params to set safety model");
while (true) {

20
selfdrive/car/honda/carcontroller.py
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@ -10,6 +10,7 @@ from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
# hyst params
brake_hyst_on = 0.02 # to activate brakes exceed this value
@ -137,6 +138,11 @@ class CarController():
# Send CAN commands.
can_sends = []
# tester present - w/ no response (keeps radar disabled)
if CS.CP.carFingerprint in HONDA_BOSCH and CS.CP.openpilotLongitudinalControl:
if (frame % 10) == 0:
can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
# Send steering command.
idx = frame % 4
can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
@ -163,7 +169,19 @@ class CarController():
idx = frame // 2
ts = frame * DT_CTRL
if CS.CP.carFingerprint in HONDA_BOSCH:
pass # TODO: implement
accel = actuators.gas - actuators.brake
# TODO: pass in LoC.long_control_state and use that to decide starting/stoppping
stopping = accel < 0 and CS.out.vEgo < 0.3
starting = accel > 0 and CS.out.vEgo < 0.3
# Prevent rolling backwards
accel = -1.0 if stopping else accel
apply_accel = interp(accel, P.BOSCH_ACCEL_LOOKUP_BP, P.BOSCH_ACCEL_LOOKUP_V)
apply_gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, apply_accel, apply_gas, idx, stopping, starting, CS.CP.carFingerprint))
else:
apply_gas = clip(actuators.gas, 0., 1.)
apply_brake = int(clip(self.brake_last * P.BRAKE_MAX, 0, P.BRAKE_MAX - 1))

54
selfdrive/car/honda/carstate.py
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@ -92,29 +92,27 @@ def get_can_signals(CP, gearbox_msg="GEARBOX"):
signals += [
("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_FEEDBACK", 0),
("CRUISE_CONTROL_LABEL", "ACC_HUD", 0),
("EPB_STATE", "EPB_STATUS", 0),
("CRUISE_SPEED", "ACC_HUD", 0),
("ACCEL_COMMAND", "ACC_CONTROL", 0),
("AEB_STATUS", "ACC_CONTROL", 0),
]
checks += [
("ACC_HUD", 10),
("EPB_STATUS", 50),
("GAS_PEDAL_2", 100),
("ACC_CONTROL", 50),
]
if CP.openpilotLongitudinalControl:
signals += [("BRAKE_ERROR_1", "STANDSTILL", 1),
("BRAKE_ERROR_2", "STANDSTILL", 1)]
checks += [("STANDSTILL", 50)]
else:
# Nidec signals.
signals += [("BRAKE_ERROR_1", "STANDSTILL", 1),
("BRAKE_ERROR_2", "STANDSTILL", 1),
("CRUISE_SPEED_PCM", "CRUISE", 0),
if not CP.openpilotLongitudinalControl:
signals += [
("CRUISE_CONTROL_LABEL", "ACC_HUD", 0),
("CRUISE_SPEED", "ACC_HUD", 0),
("ACCEL_COMMAND", "ACC_CONTROL", 0),
("AEB_STATUS", "ACC_CONTROL", 0),
]
checks += [
("ACC_HUD", 10),
("ACC_CONTROL", 50),
]
else: # Nidec signals
signals += [("CRUISE_SPEED_PCM", "CRUISE", 0),
("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
checks += [("STANDSTILL", 50)]
if CP.carFingerprint == CAR.ODYSSEY_CHN:
checks += [("CRUISE_PARAMS", 10)]
@ -192,6 +190,13 @@ def get_can_signals(CP, gearbox_msg="GEARBOX"):
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
checks.append(("GAS_SENSOR", 50))
if CP.openpilotLongitudinalControl:
signals += [
("BRAKE_ERROR_1", "STANDSTILL", 1),
("BRAKE_ERROR_2", "STANDSTILL", 1)
]
checks += [("STANDSTILL", 50)]
return signals, checks
@ -211,7 +216,6 @@ class CarState(CarStateBase):
self.brake_switch_prev_ts = 0
self.cruise_setting = 0
self.v_cruise_pcm_prev = 0
self.cruise_mode = 0
def update(self, cp, cp_cam, cp_body):
ret = car.CarState.new_message()
@ -310,12 +314,13 @@ class CarState(CarStateBase):
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.CP.carFingerprint]
if self.CP.carFingerprint in HONDA_BOSCH:
self.cruise_mode = cp.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"]
ret.cruiseState.standstill = cp.vl["ACC_HUD"]["CRUISE_SPEED"] == 252.
ret.cruiseState.speedOffset = calc_cruise_offset(0, ret.vEgo)
# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
ret.cruiseState.speed = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]["CRUISE_SPEED"] > 160.0 else cp.vl["ACC_HUD"]["CRUISE_SPEED"] * CV.KPH_TO_MS
self.v_cruise_pcm_prev = ret.cruiseState.speed
if not self.CP.openpilotLongitudinalControl:
ret.cruiseState.nonAdaptive = cp.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
ret.cruiseState.standstill = cp.vl["ACC_HUD"]["CRUISE_SPEED"] == 252.
# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
ret.cruiseState.speed = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]["CRUISE_SPEED"] > 160.0 else cp.vl["ACC_HUD"]["CRUISE_SPEED"] * CV.KPH_TO_MS
self.v_cruise_pcm_prev = ret.cruiseState.speed
else:
ret.cruiseState.speedOffset = calc_cruise_offset(cp.vl["CRUISE_PARAMS"]["CRUISE_SPEED_OFFSET"], ret.vEgo)
ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
@ -336,7 +341,6 @@ class CarState(CarStateBase):
ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
ret.cruiseState.available = bool(main_on)
ret.cruiseState.nonAdaptive = self.cruise_mode != 0
# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
if self.CP.carFingerprint in (CAR.PILOT, CAR.PILOT_2019, CAR.RIDGELINE):
@ -347,7 +351,7 @@ class CarState(CarStateBase):
self.is_metric = not cp.vl["HUD_SETTING"]["IMPERIAL_UNIT"] if self.CP.carFingerprint in (CAR.CIVIC) else False
if self.CP.carFingerprint in HONDA_BOSCH:
ret.stockAeb = bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
else:
ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)

32
selfdrive/car/honda/hondacan.py
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@ -1,3 +1,5 @@
from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
from selfdrive.swaglog import cloudlog
from selfdrive.config import Conversions as CV
from selfdrive.car.honda.values import HONDA_BOSCH
@ -7,6 +9,13 @@ from selfdrive.car.honda.values import HONDA_BOSCH
# 2 = ACC-CAN - camera side
# 3 = F-CAN A - OBDII port
RADAR_ADDR = 0x18DAB0F1
EXT_DIAG_REQUEST = b'\x10\x03'
EXT_DIAG_RESPONSE = b'\x50\x03'
COM_CONT_REQUEST = b'\x28\x83\x03'
COM_CONT_RESPONSE = b''
def get_pt_bus(car_fingerprint):
return 1 if car_fingerprint in HONDA_BOSCH else 0
@ -19,6 +28,29 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
return 0
def disable_radar(logcan, sendcan, bus=1, timeout=0.1, debug=False):
"""Silence the radar by disabling sending and receiving messages using UDS 0x28.
The radar will stay silent as long as openpilot keeps sending Tester Present.
Openpilot will emulate the radar. WARNING: THIS DISABLES AEB!"""
cloudlog.warning(f"radar disable {hex(RADAR_ADDR)} ...")
try:
query = IsoTpParallelQuery(sendcan, logcan, bus, [RADAR_ADDR], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
for _, _ in query.get_data(timeout).items():
cloudlog.warning("radar communication control disable tx/rx ...")
query = IsoTpParallelQuery(sendcan, logcan, bus, [RADAR_ADDR], [COM_CONT_REQUEST], [COM_CONT_RESPONSE], debug=debug)
query.get_data(0)
cloudlog.warning("radar disabled")
return
except Exception:
cloudlog.exception("radar disable exception")
cloudlog.warning("radar disable failed")
def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, stock_brake):
# TODO: do we loose pressure if we keep pump off for long?
brakelights = apply_brake > 0

50
selfdrive/car/honda/interface.py
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@ -1,10 +1,13 @@
#!/usr/bin/env python3
import numpy as np
from cereal import car
from panda import Panda
from common.numpy_fast import clip, interp
from common.params import Params
from selfdrive.swaglog import cloudlog
from selfdrive.config import Conversions as CV
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
from selfdrive.car.honda.hondacan import disable_radar
from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.controls.lib.longitudinal_planner import _A_CRUISE_MAX_V_FOLLOWING
from selfdrive.car.interfaces import CarInterfaceBase
@ -16,7 +19,11 @@ EventName = car.CarEvent.EventName
TransmissionType = car.CarParams.TransmissionType
def compute_gb_honda(accel, speed):
def compute_gb_honda_bosch(accel, speed):
return float(accel) / 3.5
def compute_gb_honda_nidec(accel, speed):
creep_brake = 0.0
creep_speed = 2.3
creep_brake_value = 0.15
@ -76,8 +83,10 @@ class CarInterface(CarInterfaceBase):
if self.CS.CP.carFingerprint == CAR.ACURA_ILX:
self.compute_gb = get_compute_gb_acura()
elif self.CS.CP.carFingerprint in HONDA_BOSCH:
self.compute_gb = compute_gb_honda_bosch
else:
self.compute_gb = compute_gb_honda
self.compute_gb = compute_gb_honda_nidec
@staticmethod
def compute_gb(accel, speed): # pylint: disable=method-hidden
@ -124,13 +133,22 @@ class CarInterface(CarInterfaceBase):
ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness
ret.enableCamera = True
ret.radarOffCan = True
ret.openpilotLongitudinalControl = False
# Disable the radar and let openpilot control longitudinal
# WARNING: THIS DISABLES AEB!
ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar")
ret.enableCruise = not ret.openpilotLongitudinalControl
ret.communityFeature = ret.openpilotLongitudinalControl
else:
ret.safetyModel = car.CarParams.SafetyModel.hondaNidec
ret.enableCamera = True
ret.enableGasInterceptor = 0x201 in fingerprint[0]
ret.openpilotLongitudinalControl = ret.enableCamera
ret.enableCruise = not ret.enableGasInterceptor
ret.communityFeature = ret.enableGasInterceptor
if candidate == CAR.CRV_5G:
ret.enableBsm = 0x12f8bfa7 in fingerprint[0]
@ -141,8 +159,6 @@ class CarInterface(CarInterfaceBase):
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.enableCruise = not ret.enableGasInterceptor
ret.communityFeature = ret.enableGasInterceptor
# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
# which improves controls quality as it removes the steering column torsion from feedback.
@ -408,7 +424,10 @@ class CarInterface(CarInterfaceBase):
# These cars use alternate user brake msg (0x1BE)
if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
ret.safetyParam = 1
ret.safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
ret.safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
@ -424,10 +443,16 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.gasMaxBP = [0.] # m/s
ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed
ret.brakeMaxBP = [5., 20.] # m/s
ret.brakeMaxV = [1., 0.8] # max brake allowed
if candidate in HONDA_BOSCH:
ret.gasMaxBP = [0.] # m/s
ret.gasMaxV = [0.6]
ret.brakeMaxBP = [0.] # m/s
ret.brakeMaxV = [1.] # max brake allowed, 3.5m/s^2
else:
ret.gasMaxBP = [0.] # m/s
ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed
ret.brakeMaxBP = [5., 20.] # m/s
ret.brakeMaxV = [1., 0.8] # max brake allowed
ret.startAccel = 0.5
@ -437,6 +462,11 @@ class CarInterface(CarInterfaceBase):
return ret
@staticmethod
def init(CP, logcan, sendcan):
if CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl:
disable_radar(logcan, sendcan)
# returns a car.CarState
def update(self, c, can_strings):
# ******************* do can recv *******************

6
selfdrive/car/honda/values.py
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@ -16,6 +16,12 @@ class CarControllerParams():
self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
self.BOSCH_ACCEL_LOOKUP_BP = [-1., 0., 0.6]
self.BOSCH_ACCEL_LOOKUP_V = [-3.5, 0., 2.]
self.BOSCH_GAS_LOOKUP_BP = [0., 0.6]
self.BOSCH_GAS_LOOKUP_V = [0, 2000]
# Car button codes
class CruiseButtons:
RES_ACCEL = 4

4
selfdrive/car/interfaces.py
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@ -51,6 +51,10 @@ class CarInterfaceBase():
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
raise NotImplementedError
@staticmethod
def init(CP, logcan, sendcan):
pass
# returns a set of default params to avoid repetition in car specific params
@staticmethod
def get_std_params(candidate, fingerprint):

1
selfdrive/common/params.cc
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@ -160,6 +160,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
{"CommunityFeaturesToggle", PERSISTENT},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
{"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
{"EnableLteOnroad", PERSISTENT},
{"EndToEndToggle", PERSISTENT},
{"CompletedTrainingVersion", PERSISTENT},

1
selfdrive/controls/controlsd.py
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@ -319,6 +319,7 @@ class Controls:
all_valid = CS.canValid and self.sm.all_alive_and_valid()
if not self.initialized and (all_valid or self.sm.frame * DT_CTRL > 2.0):
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
self.initialized = True
Params().put_bool("ControlsReady", True)

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
18ef295183f98d5b4e1019cceb7242b255d7d1e0
6a9a7a9c4faf421ab9f7726274a9583f1eb2cb9c
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