Honda carstate: use common gas pedal signal (#22010)

* Honda carstate: refactor GAS_PEDAL handling

* collapse SCM signal cases

* stop using CAR_GAS signal (combined user pedal + computer)

* cleanup

* update refs

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: f07e1ae99e

selfdrive/car/honda/carstate.py

@@ -10,7 +10,7 @@ from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR,
 TransmissionType = car.CarParams.TransmissionType
 
 
-def get_can_signals(CP, gearbox_msg="GEARBOX"):
+def get_can_signals(CP, gearbox_msg):
   # this function generates lists for signal, messages and initial values
   signals = [
     ("XMISSION_SPEED", "ENGINE_DATA", 0),
@@ -78,13 +78,11 @@ def get_can_signals(CP, gearbox_msg="GEARBOX"):
 
   if CP.carFingerprint in HONDA_BOSCH:
     signals += [
-      ("CAR_GAS", "GAS_PEDAL_2", 0),
       ("MAIN_ON", "SCM_FEEDBACK", 0),
       ("EPB_STATE", "EPB_STATUS", 0),
     ]
     checks += [
       ("EPB_STATUS", 50),
-      ("GAS_PEDAL_2", 100),
     ]
 
     if not CP.openpilotLongitudinalControl:
@@ -126,43 +124,22 @@ def get_can_signals(CP, gearbox_msg="GEARBOX"):
     ]
 
   if CP.carFingerprint == CAR.CIVIC:
-    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
+    signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
-                ("MAIN_ON", "SCM_FEEDBACK", 0),
                 ("IMPERIAL_UNIT", "HUD_SETTING", 0),
                 ("EPB_STATE", "EPB_STATUS", 0)]
     checks += [
       ("HUD_SETTING", 50),
       ("EPB_STATUS", 50),
-      ("GAS_PEDAL_2", 100),
-    ]
-  elif CP.carFingerprint == CAR.ACURA_ILX:
-    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
-                ("MAIN_ON", "SCM_BUTTONS", 0)]
-    checks += [
-      ("GAS_PEDAL_2", 100),
     ]
-  elif CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
+  elif CP.carFingerprint in (CAR.ACURA_ILX, CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.PILOT, CAR.PILOT_2019, CAR.RIDGELINE):
     signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
-  elif CP.carFingerprint == CAR.FIT:
+  elif CP.carFingerprint in (CAR.FIT, CAR.HRV):
-    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
-                ("MAIN_ON", "SCM_BUTTONS", 0),
-                ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
-    checks += [
-      ("GAS_PEDAL_2", 100),
-    ]
-  elif CP.carFingerprint == CAR.HRV:
     signals += [("MAIN_ON", "SCM_BUTTONS", 0),
                 ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
   elif CP.carFingerprint == CAR.ODYSSEY:
     signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
                 ("EPB_STATE", "EPB_STATUS", 0)]
     checks += [("EPB_STATUS", 50)]
-  elif CP.carFingerprint == CAR.PILOT:
-    signals += [("MAIN_ON", "SCM_BUTTONS", 0),
-                ("CAR_GAS", "GAS_PEDAL_2", 0)]
-    checks += [
-      ("GAS_PEDAL_2", 0),  # TODO: fix this freq, seems this signal isn't present at all on some models
-    ]
   elif CP.carFingerprint == CAR.ODYSSEY_CHN:
     signals += [("MAIN_ON", "SCM_BUTTONS", 0),
                 ("EPB_STATE", "EPB_STATUS", 0)]
@@ -277,20 +254,15 @@ class CarState(CarStateBase):
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
 
-    pedal_gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
+    ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
-    # crv doesn't include cruise control
-    if self.CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.HRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
-      ret.gas = pedal_gas / 256.
-    else:
-      ret.gas = cp.vl["GAS_PEDAL_2"]["CAR_GAS"] / 256.
 
     # this is a hack for the interceptor. This is now only used in the simulation
     # TODO: Replace tests by toyota so this can go away
     if self.CP.enableGasInterceptor:
       user_gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
-      ret.gasPressed = user_gas > 1e-5  # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
+      ret.gasPressed = user_gas > 1e-5  # this works because interceptor reads < 0 when pedal position is 0. Once calibrated, this will change
     else:
-      ret.gasPressed = pedal_gas > 1e-5
+      ret.gasPressed = ret.gas > 1e-5
 
     ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
     ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-68db6ee0d2afb80b0d271788b3028de6db2da45e
+b631f006877b2576163e66435d800fc0a565189f