Some code refactoring to Honda (#335)

* Move vehicle state values (that get sent to radar) into values.py file, its a better place for it :)

* idx with offset should only be applied to 0x300

* Adds new honda pilot to vehicle state msg array

selfdrive/car/honda/hondacan.py

@@ -2,7 +2,7 @@ import struct
 
 import common.numpy_fast as np
 from selfdrive.config import Conversions as CV
-from selfdrive.car.honda.values import CAR, HONDA_BOSCH
+from selfdrive.car.honda.values import CAR, HONDA_BOSCH, VEHICLE_STATE_MSG
 
 # *** Honda specific ***
 def can_cksum(mm):
@@ -126,28 +126,14 @@ def create_radar_commands(v_ego, car_fingerprint, new_radar_config, idx):
   msg_0x300 = ("\xf9" + speed + "\x8a\xd0" +
                ("\x20" if idx == 0 or idx == 3 else "\x00") +
                "\x00\x00")
+  msg_0x301 = VEHICLE_STATE_MSG[car_fingerprint]
 
+  idx_0x300 = idx
   if car_fingerprint == CAR.CIVIC:
-    msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
     idx_offset = 0xc if new_radar_config else 0x8   # radar in civic 2018 requires 0xc
-    commands.append(make_can_msg(0x300, msg_0x300, idx + idx_offset, 1))
-  else:
-    if car_fingerprint == CAR.CRV:
-      msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
-    elif car_fingerprint == CAR.ACURA_RDX:
-      msg_0x301 = "\x0f\x57\x4f\x02\x5a\x00\x00"
-    elif car_fingerprint == CAR.ODYSSEY:
-      msg_0x301 = "\x00\x00\x56\x02\x55\x00\x00"
-    elif car_fingerprint == CAR.ACURA_ILX:
-      msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
-    elif car_fingerprint == CAR.PILOT:
-      msg_0x301 = "\x00\x00\x56\x02\x58\x00\x00"
-    elif car_fingerprint == CAR.PILOT_2019:
-      msg_0x301 = "\x00\x00\x58\x02\x5c\x00\x00"
-    elif car_fingerprint == CAR.RIDGELINE:
-      msg_0x301 = "\x00\x00\x56\x02\x57\x00\x00"
-    commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
+    idx_0x300 += idx_offset
 
+  commands.append(make_can_msg(0x300, msg_0x300, idx_0x300, 1))
   commands.append(make_can_msg(0x301, msg_0x301, idx, 1))
   return commands
 

selfdrive/car/honda/values.py

@@ -145,5 +145,18 @@ SPEED_FACTOR = {
   CAR.RIDGELINE: 1.,
 }
 
+# This message sends car info to the radar that is specific to the model. You
+# can determine this message by monitoring the OEM system.
+VEHICLE_STATE_MSG = {
+  CAR.ACURA_ILX: "\x0f\x18\x51\x02\x5a\x00\x00",
+  CAR.ACURA_RDX: "\x0f\x57\x4f\x02\x5a\x00\x00",
+  CAR.CIVIC: "\x02\x38\x44\x32\x4f\x00\x00",
+  CAR.CRV: "\x00\x00\x50\x02\x51\x00\x00",
+  CAR.ODYSSEY: "\x00\x00\x56\x02\x55\x00\x00",
+  CAR.PILOT: "\x00\x00\x56\x02\x58\x00\x00",
+  CAR.PILOT_2019: "\x00\x00\x58\x02\x5c\x00\x00",
+  CAR.RIDGELINE: "\x00\x00\x56\x02\x57\x00\x00",
+}
+
 # TODO: get these from dbc file
 HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH, CAR.CRV_5G]