import numpy as np from collections import defaultdict from opendbc.can import CANDefine, CANParser from opendbc.car import Bus, create_button_events, structs from opendbc.car.common.conversions import Conversions as CV from opendbc.car.honda.hondacan import CanBus from opendbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_BOSCH_CANFD, \ HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \ HondaFlags, CruiseButtons, CruiseSettings, GearShifter from opendbc.car.interfaces import CarStateBase TransmissionType = structs.CarParams.TransmissionType ButtonType = structs.CarState.ButtonEvent.Type BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise, CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel} SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.lkas} class CarState(CarStateBase): def __init__(self, CP): super().__init__(CP) can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt]) if CP.transmissionType != TransmissionType.manual: self.gearbox_msg = "GEARBOX_AUTO" if CP.transmissionType == TransmissionType.cvt: self.gearbox_msg = "GEARBOX_CVT" self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"] self.main_on_sig_msg = "SCM_FEEDBACK" if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES: self.main_on_sig_msg = "SCM_BUTTONS" self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"]) self.brake_switch_prev = False self.brake_switch_active = False self.dynamic_v_cruise_units = self.CP.carFingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD) self.cruise_setting = 0 self.v_cruise_pcm_prev = 0 # When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX) self.dash_speed_seen = False def update(self, can_parsers) -> structs.CarState: cp = can_parsers[Bus.pt] cp_cam = can_parsers[Bus.cam] if self.CP.enableBsm: cp_body = can_parsers[Bus.body] ret = structs.CarState() # car params v_weight_v = [0., 1.] # don't trust smooth speed at low values to avoid premature zero snapping v_weight_bp = [1., 6.] # smooth blending, below ~0.6m/s the smooth speed snaps to zero # update prevs, update must run once per loop prev_cruise_buttons = self.cruise_buttons prev_cruise_setting = self.cruise_setting self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"] # used for car hud message self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"] self.v_cruise_factor = CV.MPH_TO_MS if self.dynamic_v_cruise_units and not self.is_metric else CV.KPH_TO_MS # ******************* parse out can ******************* # 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 # doorOpen is true if we can find any door open, but signal locations vary, and we may only see the driver's door # TODO: Test the eight Nidec cars without SCM signals for driver's door state, may be able to consolidate further if self.CP.flags & HondaFlags.HAS_ALL_DOOR_STATES: 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"]]) elif "DRIVERS_DOOR_OPEN" in cp.vl["SCM_BUTTONS"]: ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) else: ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"]) steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]] ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT") # LOW_SPEED_LOCKOUT is not worth a warning # NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2") if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"]) else: # On some cars, these two signals are always 1, this flag is masking a bug in release # FIXME: find and set the ACC faulted signals on more platforms if self.CP.openpilotLongitudinalControl: ret.accFaulted = bool(cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]) # Log non-critical stock ACC/LKAS faults if Nidec (camera) if self.CP.carFingerprint not in HONDA_BOSCH: ret.carFaultedNonCritical = bool(cp_cam.vl["ACC_HUD"]["ACC_PROBLEM"] or cp_cam.vl["LKAS_HUD"]["LKAS_PROBLEM"]) ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0 # blend in transmission speed at low speed, since it has more low speed accuracy v_wheel = sum([cp.vl["WHEEL_SPEEDS"][f"WHEEL_SPEED_{s}"] for s in ("FL", "FR", "RL", "RR")]) / 4.0 * CV.KPH_TO_MS v_weight = float(np.interp(v_wheel, v_weight_bp, v_weight_v)) ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3 if self.dash_speed_seen: conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"] ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"] ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk( 250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"]) ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1 if self.CP.flags & HondaFlags.HAS_EPB: ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0 if self.CP.transmissionType == TransmissionType.manual: ret.gearShifter = GearShifter.reverse if bool(cp.vl["SCM_FEEDBACK"]["REVERSE_LIGHT"]) else GearShifter.drive else: gear_position = self.shifter_values.get(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"], None) ret.gearShifter = self.parse_gear_shifter(gear_position) ret.gasPressed = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"] > 1e-5 ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"] ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200) if self.CP.carFingerprint in HONDA_BOSCH: # The PCM always manages its own cruise control state, but doesn't publish it if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0 if not self.CP.openpilotLongitudinalControl: # ACC_HUD is on camera bus on radarless cars acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"] ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0 ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252. # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this. ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * self.v_cruise_factor self.v_cruise_pcm_prev = ret.cruiseState.speed else: ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE: ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0 else: # brake switch has shown some single time step noise, so only considered when # switch is on for at least 2 consecutive CAN samples # brake switch rises earlier than brake pressed but is never 1 when in park brake_switch_vals = cp.vl_all["POWERTRAIN_DATA"]["BRAKE_SWITCH"] if len(brake_switch_vals): brake_switch = cp.vl["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != 0 if len(brake_switch_vals) > 1: self.brake_switch_prev = brake_switch_vals[-2] != 0 self.brake_switch_active = brake_switch and self.brake_switch_prev self.brake_switch_prev = brake_switch ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"] ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0 ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"]) # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE): if ret.brake > 0.1: ret.brakePressed = True if self.CP.carFingerprint in HONDA_BOSCH: # TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5) else: ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5) 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.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: # 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 ret.buttonEvents = [ *create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT), *create_button_events(self.cruise_setting, prev_cruise_setting, SETTINGS_BUTTONS_DICT), ] return ret def get_can_parsers(self, CP): parsers = { Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).pt), Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).camera), } if CP.enableBsm: parsers[Bus.body] = CANParser(DBC[CP.carFingerprint][Bus.body], [], CanBus(CP).radar) return parsers