From e1bc976c595e9abf57429300079ad143452c62fc Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Tue, 9 Aug 2022 15:57:03 -0400
Subject: [PATCH] Honda Civic 2022: forward fault bit from camera (#25280)

civic22_brakesystemlight

Rename and add comment

Try using camera's LKAS_PROBLEM value
old-commit-hash: d7409403470f01479737de5299e959c6b630f8e2
---
 selfdrive/car/honda/carcontroller.py |  2 +-
 selfdrive/car/honda/carstate.py      | 22 ++++++++++++++--------
 selfdrive/car/honda/hondacan.py      | 12 +++++++-----
 3 files changed, 22 insertions(+), 14 deletions(-)

diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index a5f25e3a2e..5fa475fe08 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -237,7 +237,7 @@ class CarController:
     if self.frame % 10 == 0:
       hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
                     hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.stock_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 5358ce249a..4696bec82e 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -275,11 +275,14 @@ class CarState(CarStateBase):
     else:
       ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
 
-    self.stock_hud = False
+    self.acc_hud = False
+    self.lkas_hud = False
     if self.CP.carFingerprint not in HONDA_BOSCH:
       ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0
-      self.stock_hud = cp_cam.vl["ACC_HUD"]
+      self.acc_hud = cp_cam.vl["ACC_HUD"]
       self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
+    if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+      self.lkas_hud = cp_cam.vl["LKAS_HUD"]
 
     if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ):
       # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
@@ -300,12 +303,15 @@ class CarState(CarStateBase):
       ("STEERING_CONTROL", 100),
     ]
 
-    if CP.carFingerprint in HONDA_BOSCH_RADARLESS and not CP.openpilotLongitudinalControl:
-      signals += [
-        ("CRUISE_SPEED", "ACC_HUD"),
-        ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
-      ]
-      checks.append(("ACC_HUD", 10))
+    if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+      signals.append(("LKAS_PROBLEM", "LKAS_HUD"))
+      checks.append(("LKAS_HUD", 10))
+      if not CP.openpilotLongitudinalControl:
+        signals += [
+          ("CRUISE_SPEED", "ACC_HUD"),
+          ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
+        ]
+        checks.append(("ACC_HUD", 10))
 
     elif CP.carFingerprint not in HONDA_BOSCH:
       signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"),
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 1f5f75426b..87f8e6c5de 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -101,7 +101,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint):
   return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
 
 
-def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, stock_hud):
+def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
   commands = []
   bus_pt = get_pt_bus(CP.carFingerprint)
   radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
@@ -125,10 +125,10 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, stock_hud
       acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
       acc_hud_values['PCM_GAS'] = hud.pcm_accel
       acc_hud_values['SET_ME_X01'] = 1
-      acc_hud_values['FCM_OFF'] = stock_hud['FCM_OFF']
-      acc_hud_values['FCM_OFF_2'] = stock_hud['FCM_OFF_2']
-      acc_hud_values['FCM_PROBLEM'] = stock_hud['FCM_PROBLEM']
-      acc_hud_values['ICONS'] = stock_hud['ICONS']
+      acc_hud_values['FCM_OFF'] = acc_hud['FCM_OFF']
+      acc_hud_values['FCM_OFF_2'] = acc_hud['FCM_OFF_2']
+      acc_hud_values['FCM_PROBLEM'] = acc_hud['FCM_PROBLEM']
+      acc_hud_values['ICONS'] = acc_hud['ICONS']
     commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values))
 
   lkas_hud_values = {
@@ -141,6 +141,8 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, stock_hud
   if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
     lkas_hud_values['LANE_LINES'] = 3
     lkas_hud_values['DASHED_LANES'] = hud.lanes_visible
+    # car likely needs to see LKAS_PROBLEM fall within a specific time frame, so forward from camera
+    lkas_hud_values['LKAS_PROBLEM'] = lkas_hud['LKAS_PROBLEM']
 
   if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
     lkas_hud_values['SET_ME_X48'] = 0x48