Cleanup HONDA_BOSCH alternate brake signal (#20901)

* Cleanup HONDA_BOSCH alternate brake signal

* always set self.brake_switch

* define in one place

* also defined here

* nesting

* remove CRV Hybrid

* rename brake_switch_ts

* add note about panda safety

selfdrive/car/honda/carstate.py

@@ -5,7 +5,7 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH
+from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 
 def calc_cruise_offset(offset, speed):
   # euristic formula so that speed is controlled to ~ 0.3m/s below pid_speed
@@ -81,12 +81,11 @@ def get_can_signals(CP):
       ("GEARBOX", 100),
     ]
 
-  if CP.carFingerprint in HONDA_BOSCH:
+  if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
-    # Civic is only bosch to use the same brake message as other hondas.
+    signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
-    if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
+    checks += [("BRAKE_MODULE", 50)]
-      signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
-      checks += [("BRAKE_MODULE", 50)]
 
+  if CP.carFingerprint in HONDA_BOSCH:
     signals += [
       ("CAR_GAS", "GAS_PEDAL_2", 0),
       ("MAIN_ON", "SCM_FEEDBACK", 0),
@@ -118,6 +117,7 @@ def get_can_signals(CP):
       checks += [("CRUISE_PARAMS", 10)]
     else:
       checks += [("CRUISE_PARAMS", 50)]
+
   if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
     signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
   elif CP.carFingerprint == CAR.ODYSSEY_CHN:
@@ -201,7 +201,7 @@ class CarState(CarStateBase):
 
     self.user_gas, self.user_gas_pressed = 0., 0
     self.brake_switch_prev = 0
-    self.brake_switch_ts = 0
+    self.brake_switch_prev_ts = 0
     self.cruise_setting = 0
     self.v_cruise_pcm_prev = 0
     self.cruise_mode = 0
@@ -302,33 +302,29 @@ class CarState(CarStateBase):
     ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]['MOTOR_TORQUE']
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.CP.carFingerprint]
 
-    self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != 0
-
     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)
-      if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.ACCORDH, CAR.CRV_HYBRID, CAR.INSIGHT):
-        ret.brakePressed = bool(cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or
-                              (self.brake_switch and self.brake_switch_prev and
-                               cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts))
-        self.brake_switch_prev = self.brake_switch
-        self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
-      else:
-        ret.brakePressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED'] != 0
       # 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
+
+    self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != 0
+    if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+      ret.brakePressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED'] != 0
+    else:
       # brake switch has shown some single time step noise, so only considered when
       # switch is on for at least 2 consecutive CAN samples
+      # panda safety only checks BRAKE_PRESSED signal
       ret.brakePressed = bool(cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or
-                              (self.brake_switch and self.brake_switch_prev and
+                              (self.brake_switch and self.brake_switch_prev and cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_prev_ts))
-                               cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts))
+
       self.brake_switch_prev = self.brake_switch
-      self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
+      self.brake_switch_prev_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
 
     ret.brake = cp.vl["VSA_STATUS"]['USER_BRAKE']
     ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]['ACC_STATUS'] != 0

selfdrive/car/honda/interface.py

@@ -6,7 +6,7 @@ from common.realtime import DT_CTRL
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.events import ET
-from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH
+from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 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
@@ -198,8 +198,6 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
       stop_and_go = True
-      if not candidate == CAR.ACCORDH:  # Hybrid uses same brake msg as hatch
-        ret.safetyParam = 1  # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
       ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.83
       ret.centerToFront = ret.wheelbase * 0.39
@@ -246,7 +244,6 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.CRV_5G:
       stop_and_go = True
-      ret.safetyParam = 1  # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
       ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.66
       ret.centerToFront = ret.wheelbase * 0.41
@@ -324,7 +321,6 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.ACURA_RDX_3G:
       stop_and_go = True
-      ret.safetyParam = 1  # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
       ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.75
       ret.centerToFront = ret.wheelbase * 0.41
@@ -410,6 +406,10 @@ class CarInterface(CarInterfaceBase):
     else:
       raise ValueError("unsupported car %s" % candidate)
 
+    # These cars use alternate user brake msg (0x1BE)
+    if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+      ret.safetyParam = 1
+
     # 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
     # conflict with PCM acc

selfdrive/car/honda/values.py

@@ -1367,3 +1367,4 @@ SPEED_FACTOR = {
 }
 
 HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G])
+HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.ACCORD_15, CAR.CRV_5G, CAR.ACURA_RDX_3G])