From 32a3c3f23c701b9dadcb4fbe8a29278e6b3f0903 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 9 Mar 2022 17:04:10 -0800
Subject: [PATCH] add min_steer_speed exception for hatchback

---
 selfdrive/car/__init__.py     |  2 +-
 selfdrive/car/honda/values.py | 13 +++++++++----
 selfdrive/car/mock/values.py  |  4 ++--
 3 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 0f673c18d3..c74a85a1ef 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -7,7 +7,7 @@ from common.numpy_fast import clip
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
 
-CarInfo = namedtuple('CarInfo', ['name', 'years', 'package'])
+CarInfo = namedtuple('CarInfo', ['name', 'years', 'package', 'min_steer_speed'], defaults=[-1])
 
 
 def gen_empty_fingerprint():
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 38ff3bd0d5..2669776782 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -2,6 +2,7 @@ from enum import IntFlag
 
 from cereal import car
 from selfdrive.car import CarInfo, dbc_dict
+from selfdrive.config import Conversions as CV
 
 Ecu = car.CarParams.Ecu
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -68,7 +69,7 @@ class CAR:
   ACCORDH = "HONDA ACCORD HYBRID 2018"
   CIVIC = "HONDA CIVIC 2016"  # Sedan/Coupe 2016-18
   CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"  # Bosch Sedan/Coupe 2019-2020
-  CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"  #
+  CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
   ACURA_ILX = "ACURA ILX 2016"
   CRV = "HONDA CR-V 2016"
   CRV_5G = "HONDA CR-V 2017"
@@ -92,8 +93,12 @@ CAR_INFO = {
   CAR.ACCORD: CarInfo("Honda Accord", {2018, 2019, 2020, 2021}, "All"),
   CAR.ACCORDH: CarInfo("Honda Accord Hybrid", {2018, 2019, 2020, 2021}, "All"),
   CAR.CIVIC: CarInfo("Honda Civic Sedan/Coupe", {2016, 2017, 2018}, "Honda Sensing"),  # Nidec
-  CAR.CIVIC_BOSCH: CarInfo("Honda Civic Sedan/Coupe", {2019, 2020}, "All"),
-  CAR.CIVIC_BOSCH_DIESEL: CarInfo("Honda Civic Sedan 1.6 DIESEL", {2019, 2020}, "All"),  # TODO: same as civic bosch but has no alc under 12 mph exception
+  CAR.CIVIC_BOSCH: [
+    CarInfo("Honda Civic Sedan/Coupe", {2019, 2020}, "All"),  # 12 mph ALC
+    CarInfo("Honda Civic Hatchback", {2017, 2018, 2019, 2020, 2021}, "All", min_steer_speed=12. * CV.MPH_TO_MS),  # TODO: we can't easily use fw as they were batch added. move exception to cars.py?
+  ],
+  # TODO: same as sedan/coupe, but no ALC under 12. make sure diesel exception is in readme
+  # CAR.CIVIC_BOSCH_DIESEL: CarInfo("Honda Civic Sedan 1.6 DIESEL", {2019, 2020}, "All"),
   CAR.ACURA_ILX: CarInfo("Acura ILX", {2016, 2017, 2018, 2019}, "AcuraWatch Plus"),
   CAR.CRV: CarInfo("Honda CR-V", {2015, 2016}, "Touring"),
   CAR.CRV_5G: CarInfo("Honda CR-V", {2017, 2018, 2019, 2020, 2021}, "Honda Sensing"),
@@ -103,7 +108,7 @@ CAR_INFO = {
   CAR.FREED: CarInfo("Honda Freed", {2020}, "Honda Sensing"),
   CAR.HRV: CarInfo("Honda HR-V", {2019, 2020}, "Honda Sensing"),
   CAR.ODYSSEY: CarInfo("Honda Odyssey", {2018, 2019, 2020}, "Honda Sensing"),
-  # TODO: Duplicate of above
+  # TODO: Duplicate of above. remove
   CAR.ODYSSEY_CHN: CarInfo("Honda Odyssey CHN", {2018, 2019, 2020}, "Honda Sensing"),
   CAR.ACURA_RDX: CarInfo("Acura RDX", {2016, 2017, 2018}, "AcuraWatch Plus"),
   CAR.ACURA_RDX_3G: CarInfo("Acura RDX", {2019, 2020, 2021}, "All"),
diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py
index 57ffdd39bc..7c4b6dd781 100644
--- a/selfdrive/car/mock/values.py
+++ b/selfdrive/car/mock/values.py
@@ -1,4 +1,4 @@
-from typing import Dict
+from typing import Dict, List, Union
 
 from selfdrive.car import CarInfo
 
@@ -7,4 +7,4 @@ class CAR:
   MOCK = 'mock'
 
 
-CAR_INFO: Dict[int, CarInfo] = {}
+CAR_INFO: Dict[int, Union[CarInfo, List[CarInfo]]] = {}