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Honda: two base platform configs (#31676)

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* subclass bosch and nidec

* end with comma

* one line

* remove unused flags

* as a test see what happens if we exceeed CP.flags

* Revert "as a test see what happens if we exceeed CP.flags"

This reverts commit f57a346df5.

* Update ref_commit
pull/31606/head
Shane Smiskol 1 year ago committed by GitHub
parent f1cd16e367
commit 77d896eb89
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2 changed files with 45 additions and 51 deletions
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  1. 94
      selfdrive/car/honda/values.py
  2. 2
      selfdrive/test/process_replay/ref_commit

94
selfdrive/car/honda/values.py
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@ -59,8 +59,6 @@ class HondaFlags(IntFlag):
NIDEC_ALT_PCM_ACCEL = 32
NIDEC_ALT_SCM_MESSAGES = 64
AUTORESUME_SNG = 128
ELECTRIC_PARKING_BRAKE = 256
# Car button codes
class CruiseButtons:
@ -100,16 +98,19 @@ class Footnote(Enum):
Column.FSR_STEERING)
class HondaPlatformConfig(PlatformConfig):
class HondaBoschPlatformConfig(PlatformConfig):
def init(self):
if self.flags & HondaFlags.BOSCH:
self.flags |= HondaFlags.AUTORESUME_SNG
self.flags |= HondaFlags.ELECTRIC_PARKING_BRAKE
self.flags |= HondaFlags.BOSCH
class HondaNidecPlatformConfig(PlatformConfig):
def init(self):
self.flags |= HondaFlags.NIDEC
class CAR(Platforms):
# Bosch Cars
ACCORD = HondaPlatformConfig(
ACCORD = HondaBoschPlatformConfig(
"HONDA ACCORD 2018",
[
HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
@ -118,9 +119,8 @@ class CAR(Platforms):
],
CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39), # steerRatio: 11.82 is spec end-to-end
dbc_dict('honda_accord_2018_can_generated', None),
flags=HondaFlags.BOSCH,
)
CIVIC_BOSCH = HondaPlatformConfig(
CIVIC_BOSCH = HondaBoschPlatformConfig(
"HONDA CIVIC (BOSCH) 2019",
[
HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
@ -129,16 +129,14 @@ class CAR(Platforms):
],
CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec
dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
flags=HondaFlags.BOSCH
)
CIVIC_BOSCH_DIESEL = HondaPlatformConfig(
CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
"HONDA CIVIC SEDAN 1.6 DIESEL 2019",
None, # don't show in docs
CIVIC_BOSCH.specs,
dbc_dict('honda_accord_2018_can_generated', None),
flags=HondaFlags.BOSCH
)
CIVIC_2022 = HondaPlatformConfig(
CIVIC_2022 = HondaBoschPlatformConfig(
"HONDA CIVIC 2022",
[
HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
@ -146,116 +144,113 @@ class CAR(Platforms):
],
CIVIC_BOSCH.specs,
dbc_dict('honda_civic_ex_2022_can_generated', None),
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS,
flags=HondaFlags.BOSCH_RADARLESS,
)
CRV_5G = HondaPlatformConfig(
CRV_5G = HondaBoschPlatformConfig(
"HONDA CR-V 2017",
HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41), # steerRatio: 12.3 is spec end-to-end
dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_ALT_BRAKE,
flags=HondaFlags.BOSCH_ALT_BRAKE,
)
CRV_HYBRID = HondaPlatformConfig(
CRV_HYBRID = HondaBoschPlatformConfig(
"HONDA CR-V HYBRID 2019",
HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41), # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
dbc_dict('honda_accord_2018_can_generated', None),
flags=HondaFlags.BOSCH
)
HRV_3G = HondaPlatformConfig(
HRV_3G = HondaBoschPlatformConfig(
"HONDA HR-V 2023",
HondaCarInfo("Honda HR-V 2023", "All"),
CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41),
dbc_dict('honda_civic_ex_2022_can_generated', None),
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE
flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE,
)
ACURA_RDX_3G = HondaPlatformConfig(
ACURA_RDX_3G = HondaBoschPlatformConfig(
"ACURA RDX 2020",
HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41), # as spec
dbc_dict('acura_rdx_2020_can_generated', None),
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_ALT_BRAKE
flags=HondaFlags.BOSCH_ALT_BRAKE,
)
INSIGHT = HondaPlatformConfig(
INSIGHT = HondaBoschPlatformConfig(
"HONDA INSIGHT 2019",
HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39), # as spec
dbc_dict('honda_insight_ex_2019_can_generated', None),
flags=HondaFlags.BOSCH
)
HONDA_E = HondaPlatformConfig(
HONDA_E = HondaBoschPlatformConfig(
"HONDA E 2020",
HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71),
dbc_dict('acura_rdx_2020_can_generated', None),
flags=HondaFlags.BOSCH
)
# Nidec Cars
ACURA_ILX = HondaPlatformConfig(
ACURA_ILX = HondaNidecPlatformConfig(
"ACURA ILX 2016",
HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37), # 15.3 is spec end-to-end
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CRV = HondaPlatformConfig(
CRV = HondaNidecPlatformConfig(
"HONDA CR-V 2016",
HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41), # as spec
dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CRV_EU = HondaPlatformConfig(
CRV_EU = HondaNidecPlatformConfig(
"HONDA CR-V EU 2016",
None, # Euro version of CRV Touring, don't show in docs
CRV.specs,
dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
FIT = HondaPlatformConfig(
FIT = HondaNidecPlatformConfig(
"HONDA FIT 2018",
HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
FREED = HondaPlatformConfig(
FREED = HondaNidecPlatformConfig(
"HONDA FREED 2020",
HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39), # mostly copied from FIT
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
HRV = HondaPlatformConfig(
HRV = HondaNidecPlatformConfig(
"HONDA HRV 2019",
HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
HRV_3G.specs,
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
ODYSSEY = HondaPlatformConfig(
ODYSSEY = HondaNidecPlatformConfig(
"HONDA ODYSSEY 2018",
HondaCarInfo("Honda Odyssey 2018-20"),
CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41),
dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_PCM_ACCEL
flags=HondaFlags.NIDEC_ALT_PCM_ACCEL,
)
ODYSSEY_CHN = HondaPlatformConfig(
ODYSSEY_CHN = HondaNidecPlatformConfig(
"HONDA ODYSSEY CHN 2019",
None, # Chinese version of Odyssey, don't show in docs
ODYSSEY.specs,
dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
ACURA_RDX = HondaPlatformConfig(
ACURA_RDX = HondaNidecPlatformConfig(
"ACURA RDX 2018",
HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38), # as spec
dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
PILOT = HondaPlatformConfig(
PILOT = HondaNidecPlatformConfig(
"HONDA PILOT 2017",
[
HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
@ -263,21 +258,20 @@ class CAR(Platforms):
],
CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0), # as spec
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
RIDGELINE = HondaPlatformConfig(
RIDGELINE = HondaNidecPlatformConfig(
"HONDA RIDGELINE 2017",
HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59), # as spec
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CIVIC = HondaPlatformConfig(
CIVIC = HondaNidecPlatformConfig(
"HONDA CIVIC 2016",
HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec
dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.AUTORESUME_SNG | HondaFlags.ELECTRIC_PARKING_BRAKE,
)

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
7fe098c307b78bf1f6f003452f9ba0a0eaad83d6
99a50fe1b645bc1dcbf621e9cb72d151c6896429

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