From 6de434f2ecee89e86c011bece57cb205c4c047e3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 19 Apr 2022 23:18:01 -0700
Subject: [PATCH] Honda: do same standstill check as panda (#24262)

* check standstill against panda

* use XMISSION_SPEED for all, and compare to 0

* fix

* only check for Honda for now

* update comment

* update refs

* update refs and update check

* phantom commit
---
 selfdrive/car/honda/carstate.py          | 12 ++++--------
 selfdrive/car/tests/test_models.py       |  2 ++
 selfdrive/test/process_replay/ref_commit |  2 +-
 3 files changed, 7 insertions(+), 9 deletions(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 31a641e90d..5314fe375e 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -181,18 +181,14 @@ class CarState(CarStateBase):
     self.prev_cruise_setting = self.cruise_setting
 
     # ******************* parse out can *******************
-    # TODO: find wheels moving bit in dbc
+    # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
+    # panda checks if the signal is non-zero
+    ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
     if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
-      ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
-    elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
-      ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1
-      ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
-    elif self.CP.carFingerprint in (CAR.FREED, CAR.HRV):
-      ret.standstill = not cp.vl["STANDSTILL"]["WHEELS_MOVING"]
+    elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
     else:
-      ret.standstill = not cp.vl["STANDSTILL"]["WHEELS_MOVING"]
       ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"],
                           cp.vl["DOORS_STATUS"]["DOOR_OPEN_RL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_RR"]])
     ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"])
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index b9c36db07a..962778097d 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -245,6 +245,8 @@ class TestCarModel(unittest.TestCase):
 
       if self.CP.carName == "honda":
         checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
+        # TODO: fix standstill mismatches for other makes
+        checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
 
       CS_prev = CS
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index de9e404bdc..bd6c3befc0 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-185f5f9c8d878ad4b98664afc7147400476208cc
\ No newline at end of file
+ea48ff4478914b6aff56a979a647fe13b4993711
\ No newline at end of file