openpilot_comma/selfdrive/car/honda/hondacan.py

from selfdrive.config import Conversions as CV
from selfdrive.car.honda.values import HONDA_BOSCH


def get_pt_bus(car_fingerprint, has_relay):
  return 1 if car_fingerprint in HONDA_BOSCH and has_relay else 0


def get_lkas_cmd_bus(car_fingerprint, has_relay):
  return 2 if car_fingerprint in HONDA_BOSCH and not has_relay else 0


def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, has_relay, stock_brake):
  # TODO: do we loose pressure if we keep pump off for long?
  brakelights = apply_brake > 0
  brake_rq = apply_brake > 0
  pcm_fault_cmd = False

  values = {
    "COMPUTER_BRAKE": apply_brake,
    "BRAKE_PUMP_REQUEST": pump_on,
    "CRUISE_OVERRIDE": pcm_override,
    "CRUISE_FAULT_CMD": pcm_fault_cmd,
    "CRUISE_CANCEL_CMD": pcm_cancel_cmd,
    "COMPUTER_BRAKE_REQUEST": brake_rq,
    "SET_ME_1": 1,
    "BRAKE_LIGHTS": brakelights,
    "CHIME": stock_brake["CHIME"] if fcw else 0,  # send the chime for stock fcw
    "FCW": fcw << 1,  # TODO: Why are there two bits for fcw?
    "AEB_REQ_1": 0,
    "AEB_REQ_2": 0,
    "AEB_STATUS": 0,
  }
  bus = get_pt_bus(car_fingerprint, has_relay)
  return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)


def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, has_relay):
  values = {
    "STEER_TORQUE": apply_steer if lkas_active else 0,
    "STEER_TORQUE_REQUEST": lkas_active,
  }
  bus = get_lkas_cmd_bus(car_fingerprint, has_relay)
  return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)


def create_bosch_supplemental_1(packer, car_fingerprint, idx, has_relay):
  # non-active params
  values = {
    "SET_ME_X04": 0x04,
    "SET_ME_X80": 0x80,
    "SET_ME_X10": 0x10,
  }
  bus = get_lkas_cmd_bus(car_fingerprint, has_relay)
  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)


def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx, has_relay, stock_hud):
  commands = []
  bus_pt = get_pt_bus(car_fingerprint, has_relay)
  bus_lkas = get_lkas_cmd_bus(car_fingerprint, has_relay)

  if car_fingerprint not in HONDA_BOSCH:
    acc_hud_values = {
      'PCM_SPEED': pcm_speed * CV.MS_TO_KPH,
      'PCM_GAS': hud.pcm_accel,
      'CRUISE_SPEED': hud.v_cruise,
      'ENABLE_MINI_CAR': 1,
      'HUD_LEAD': hud.car,
      'HUD_DISTANCE': 3,    # max distance setting on display
      'IMPERIAL_UNIT': int(not is_metric),
      'SET_ME_X01_2': 1,
      'SET_ME_X01': 1,
      "FCM_OFF": stock_hud["FCM_OFF"],
      "FCM_OFF_2": stock_hud["FCM_OFF_2"],
      "FCM_PROBLEM": stock_hud["FCM_PROBLEM"],
      "ICONS": stock_hud["ICONS"],
    }
    commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values, idx))

  lkas_hud_values = {
    'SET_ME_X41': 0x41,
    'SET_ME_X48': 0x48,
    'STEERING_REQUIRED': hud.steer_required,
    'SOLID_LANES': hud.lanes,
    'BEEP': 0,
  }
  commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))

  return commands


def spam_buttons_command(packer, button_val, idx, car_fingerprint, has_relay):
  values = {
    'CRUISE_BUTTONS': button_val,
    'CRUISE_SETTING': 0,
  }
  bus = get_pt_bus(car_fingerprint, has_relay)
  return packer.make_can_msg("SCM_BUTTONS", bus, values, idx)