Honda CRV BSM alert from B-CAN (#1867)

release/files_common

@@ -510,6 +510,7 @@ opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
 opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
 opendbc/honda_crv_touring_2016_can_generated.dbc
 opendbc/honda_crv_ex_2017_can_generated.dbc
+opendbc/honda_crv_ex_2017_body_generated.dbc
 opendbc/honda_crv_executive_2016_can_generated.dbc
 opendbc/honda_crv_hybrid_2019_can_generated.dbc
 opendbc/honda_fit_ex_2018_can_generated.dbc

selfdrive/car/__init__.py

@@ -40,8 +40,8 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor
   return tire_stiffness_front, tire_stiffness_rear
 
 
-def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None):
-  return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc}
+def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None):
+  return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
 
 
 def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):

selfdrive/car/honda/carstate.py

@@ -172,7 +172,7 @@ class CarState(CarStateBase):
     self.v_cruise_pcm_prev = 0
     self.cruise_mode = 0
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, cp_body):
     ret = car.CarState.new_message()
 
     # car params
@@ -322,6 +322,12 @@ class CarState(CarStateBase):
       self.stock_hud = cp_cam.vl["ACC_HUD"]
       self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
 
+    if self.CP.carFingerprint in (CAR.CRV_5G, ):
+      # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
+      # more info here: https://github.com/commaai/openpilot/pull/1867
+      ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]['BSM_ALERT'] == 1
+      ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]['BSM_ALERT'] == 1
+
     return ret
 
   @staticmethod
@@ -354,3 +360,17 @@ class CarState(CarStateBase):
 
     bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH and not CP.isPandaBlack else 2
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_cam)
+
+  @staticmethod
+  def get_body_can_parser(CP):
+    signals = []
+    checks = []
+
+    if CP.carFingerprint == CAR.CRV_5G:
+      signals += [("BSM_ALERT", "BSM_STATUS_RIGHT", 0),
+                  ("BSM_ALERT", "BSM_STATUS_LEFT", 0)]
+
+      bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
+      return CANParser(DBC[CP.carFingerprint]['body'], signals, checks, bus_body)
+
+    return None

selfdrive/car/honda/interface.py

@@ -83,7 +83,7 @@ class CarInterface(CarInterfaceBase):
       self.compute_gb = compute_gb_honda
 
   @staticmethod
-  def compute_gb(accel, speed):
+  def compute_gb(accel, speed): # pylint: disable=method-hidden
     raise NotImplementedError
 
   @staticmethod
@@ -426,10 +426,12 @@ class CarInterface(CarInterfaceBase):
     # ******************* do can recv *******************
     self.cp.update_strings(can_strings)
     self.cp_cam.update_strings(can_strings)
+    if self.cp_body:
+      self.cp_body.update_strings(can_strings)
 
-    ret = self.CS.update(self.cp, self.cp_cam)
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
-    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
+    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid and (self.cp_body is None or self.cp_body.can_valid)
     ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
     # FIXME: read sendcan for brakelights
     brakelights_threshold = 0.02 if self.CS.CP.carFingerprint == CAR.CIVIC else 0.1

selfdrive/car/honda/values.py

@@ -922,7 +922,7 @@ DBC = {
   CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
   CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_civic_sedan_16_diesel_2019_can_generated', None),
   CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None),
+  CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
   CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_can_generated', None),
   CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),

selfdrive/car/interfaces.py

@@ -27,6 +27,7 @@ class CarInterfaceBase():
       self.CS = CarState(CP)
       self.cp = self.CS.get_can_parser(CP)
       self.cp_cam = self.CS.get_cam_can_parser(CP)
+      self.cp_body = self.CS.get_body_can_parser(CP)
 
     self.CC = None
     if CarController is not None:
@@ -175,3 +176,7 @@ class CarStateBase:
   @staticmethod
   def get_cam_can_parser(CP):
     return None
+
+  @staticmethod
+  def get_body_can_parser(CP):
+    return None