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344 lines
15 KiB
344 lines
15 KiB
from collections import defaultdict
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from cereal import car
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from common.conversions import Conversions as CV
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from common.numpy_fast import interp
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from opendbc.can.can_define import CANDefine
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from opendbc.can.parser import CANParser
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from selfdrive.car.honda.hondacan import get_pt_bus
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from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
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from selfdrive.car.interfaces import CarStateBase
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TransmissionType = car.CarParams.TransmissionType
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def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
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signals = [
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("XMISSION_SPEED", "ENGINE_DATA"),
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("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
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("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
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("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
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("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
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("STEER_ANGLE", "STEERING_SENSORS"),
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("STEER_ANGLE_RATE", "STEERING_SENSORS"),
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("MOTOR_TORQUE", "STEER_MOTOR_TORQUE"),
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("STEER_TORQUE_SENSOR", "STEER_STATUS"),
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("IMPERIAL_UNIT", "CAR_SPEED"),
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("LEFT_BLINKER", "SCM_FEEDBACK"),
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("RIGHT_BLINKER", "SCM_FEEDBACK"),
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("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS"),
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("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS"),
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("BRAKE_PRESSED", "POWERTRAIN_DATA"),
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("BRAKE_SWITCH", "POWERTRAIN_DATA"),
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("CRUISE_BUTTONS", "SCM_BUTTONS"),
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("ESP_DISABLED", "VSA_STATUS"),
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("USER_BRAKE", "VSA_STATUS"),
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("BRAKE_HOLD_ACTIVE", "VSA_STATUS"),
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("STEER_STATUS", "STEER_STATUS"),
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("GEAR_SHIFTER", gearbox_msg),
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("GEAR", gearbox_msg),
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("PEDAL_GAS", "POWERTRAIN_DATA"),
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("CRUISE_SETTING", "SCM_BUTTONS"),
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("ACC_STATUS", "POWERTRAIN_DATA"),
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("MAIN_ON", main_on_sig_msg),
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]
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checks = [
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("ENGINE_DATA", 100),
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("WHEEL_SPEEDS", 50),
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("STEERING_SENSORS", 100),
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("SEATBELT_STATUS", 10),
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("CRUISE", 10),
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("POWERTRAIN_DATA", 100),
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("CAR_SPEED", 10),
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("VSA_STATUS", 50),
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("STEER_STATUS", 100),
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("STEER_MOTOR_TORQUE", 0), # TODO: not on every car
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]
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if CP.carFingerprint == CAR.ODYSSEY_CHN:
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checks += [
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("SCM_FEEDBACK", 25),
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("SCM_BUTTONS", 50),
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]
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else:
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checks += [
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("SCM_FEEDBACK", 10),
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("SCM_BUTTONS", 25),
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]
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if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
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checks.append((gearbox_msg, 50))
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else:
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checks.append((gearbox_msg, 100))
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if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
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signals.append(("BRAKE_PRESSED", "BRAKE_MODULE"))
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checks.append(("BRAKE_MODULE", 50))
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if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
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signals.append(("EPB_STATE", "EPB_STATUS"))
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checks.append(("EPB_STATUS", 50))
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if CP.carFingerprint in HONDA_BOSCH:
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# these messages are on camera bus on radarless cars
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if not CP.openpilotLongitudinalControl and CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
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signals += [
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("CRUISE_CONTROL_LABEL", "ACC_HUD"),
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("CRUISE_SPEED", "ACC_HUD"),
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("ACCEL_COMMAND", "ACC_CONTROL"),
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("AEB_STATUS", "ACC_CONTROL"),
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]
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checks += [
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("ACC_HUD", 10),
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("ACC_CONTROL", 50),
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]
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else: # Nidec signals
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signals += [("CRUISE_SPEED_PCM", "CRUISE"),
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("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS")]
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if CP.carFingerprint == CAR.ODYSSEY_CHN:
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checks.append(("CRUISE_PARAMS", 10))
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else:
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checks.append(("CRUISE_PARAMS", 50))
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if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
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signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
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elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
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signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
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else:
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signals += [("DOOR_OPEN_FL", "DOORS_STATUS"),
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("DOOR_OPEN_FR", "DOORS_STATUS"),
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("DOOR_OPEN_RL", "DOORS_STATUS"),
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("DOOR_OPEN_RR", "DOORS_STATUS")]
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checks.append(("DOORS_STATUS", 3))
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# add gas interceptor reading if we are using it
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if CP.enableGasInterceptor:
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signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR"))
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signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR"))
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checks.append(("GAS_SENSOR", 50))
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if CP.openpilotLongitudinalControl:
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signals += [
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("BRAKE_ERROR_1", "STANDSTILL"),
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("BRAKE_ERROR_2", "STANDSTILL")
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]
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checks.append(("STANDSTILL", 50))
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return signals, checks
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class CarState(CarStateBase):
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def __init__(self, CP):
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super().__init__(CP)
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can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
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self.gearbox_msg = "GEARBOX"
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if CP.carFingerprint == CAR.ACCORD and CP.transmissionType == TransmissionType.cvt:
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self.gearbox_msg = "GEARBOX_15T"
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self.main_on_sig_msg = "SCM_FEEDBACK"
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if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES:
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self.main_on_sig_msg = "SCM_BUTTONS"
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self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
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self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
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self.brake_error = False
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self.brake_switch_prev = False
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self.brake_switch_active = False
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self.cruise_setting = 0
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self.v_cruise_pcm_prev = 0
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def update(self, cp, cp_cam, cp_body):
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ret = car.CarState.new_message()
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# car params
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v_weight_v = [0., 1.] # don't trust smooth speed at low values to avoid premature zero snapping
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v_weight_bp = [1., 6.] # smooth blending, below ~0.6m/s the smooth speed snaps to zero
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# update prevs, update must run once per loop
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self.prev_cruise_buttons = self.cruise_buttons
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self.prev_cruise_setting = self.cruise_setting
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self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
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self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
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# used for car hud message
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self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
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# ******************* parse out can *******************
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# STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
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# panda checks if the signal is non-zero
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ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
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# TODO: find a common signal across all cars
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if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
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ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
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elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
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ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
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else:
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ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"],
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cp.vl["DOORS_STATUS"]["DOOR_OPEN_RL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_RR"]])
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ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"])
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steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
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ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT")
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# LOW_SPEED_LOCKOUT is not worth a warning
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# NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver
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ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
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if self.CP.openpilotLongitudinalControl:
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self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
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ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
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ret.wheelSpeeds = self.get_wheel_speeds(
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cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
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cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
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cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
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cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
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)
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v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.0
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# blend in transmission speed at low speed, since it has more low speed accuracy
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v_weight = interp(v_wheel, v_weight_bp, v_weight_v)
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ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
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ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]
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ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
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250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
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ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
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# TODO: set for all cars
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if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
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ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
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gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
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if self.CP.enableGasInterceptor:
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# Same threshold as panda, equivalent to 1e-5 with previous DBC scaling
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ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
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ret.gasPressed = ret.gas > 492
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else:
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ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
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ret.gasPressed = ret.gas > 1e-5
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ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
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ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
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ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
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if self.CP.carFingerprint in HONDA_BOSCH:
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if not self.CP.openpilotLongitudinalControl:
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# ACC_HUD is on camera bus on radarless cars
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acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
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ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
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ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
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# on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
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conversion_factor = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS
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# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
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ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion_factor
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self.v_cruise_pcm_prev = ret.cruiseState.speed
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else:
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ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
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if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
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ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
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else:
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# brake switch has shown some single time step noise, so only considered when
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# switch is on for at least 2 consecutive CAN samples
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# brake switch rises earlier than brake pressed but is never 1 when in park
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brake_switch_vals = cp.vl_all["POWERTRAIN_DATA"]["BRAKE_SWITCH"]
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if len(brake_switch_vals):
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brake_switch = cp.vl["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != 0
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if len(brake_switch_vals) > 1:
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self.brake_switch_prev = brake_switch_vals[-2] != 0
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self.brake_switch_active = brake_switch and self.brake_switch_prev
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self.brake_switch_prev = brake_switch
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ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active
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ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
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ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
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ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
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# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
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if self.CP.carFingerprint in (CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE):
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if ret.brake > 0.1:
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ret.brakePressed = True
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if self.CP.carFingerprint in HONDA_BOSCH:
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# TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts
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if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
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ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
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else:
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ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
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self.acc_hud = False
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self.lkas_hud = False
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if self.CP.carFingerprint not in HONDA_BOSCH:
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ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0
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self.acc_hud = cp_cam.vl["ACC_HUD"]
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self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
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if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
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self.lkas_hud = cp_cam.vl["LKAS_HUD"]
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if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ):
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# BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
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# more info here: https://github.com/commaai/openpilot/pull/1867
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ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
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ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
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return ret
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def get_can_parser(self, CP):
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signals, checks = get_can_signals(CP, self.gearbox_msg, self.main_on_sig_msg)
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_pt_bus(CP.carFingerprint))
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@staticmethod
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def get_cam_can_parser(CP):
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signals = []
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checks = [
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("STEERING_CONTROL", 100),
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]
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if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
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signals.append(("LKAS_PROBLEM", "LKAS_HUD"))
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checks.append(("LKAS_HUD", 10))
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if not CP.openpilotLongitudinalControl:
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signals += [
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("CRUISE_SPEED", "ACC_HUD"),
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("CRUISE_CONTROL_LABEL", "ACC_HUD"),
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]
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checks.append(("ACC_HUD", 10))
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elif CP.carFingerprint not in HONDA_BOSCH:
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signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"),
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("AEB_REQ_1", "BRAKE_COMMAND"),
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("FCW", "BRAKE_COMMAND"),
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("CHIME", "BRAKE_COMMAND"),
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("FCM_OFF", "ACC_HUD"),
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("FCM_OFF_2", "ACC_HUD"),
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("FCM_PROBLEM", "ACC_HUD"),
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("ICONS", "ACC_HUD")]
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checks += [
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("ACC_HUD", 10),
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("BRAKE_COMMAND", 50),
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]
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
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@staticmethod
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def get_body_can_parser(CP):
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if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G:
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signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"),
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("BSM_ALERT", "BSM_STATUS_LEFT")]
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checks = [
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("BSM_STATUS_LEFT", 3),
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("BSM_STATUS_RIGHT", 3),
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]
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bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
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return CANParser(DBC[CP.carFingerprint]["body"], signals, checks, bus_body)
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return None
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