Source code for selfdrive.car.honda.carstate

from collections import defaultdict

from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.common.numpy_fast import interp
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
                                                 HondaFlags
from openpilot.selfdrive.car.interfaces import CarStateBase

TransmissionType = car.CarParams.TransmissionType


[docs] def get_can_messages(CP, gearbox_msg): messages = [ ("ENGINE_DATA", 100), ("WHEEL_SPEEDS", 50), ("STEERING_SENSORS", 100), ("SEATBELT_STATUS", 10), ("CRUISE", 10), ("POWERTRAIN_DATA", 100), ("CAR_SPEED", 10), ("VSA_STATUS", 50), ("STEER_STATUS", 100), ("STEER_MOTOR_TORQUE", 0), # TODO: not on every car ] if CP.carFingerprint == CAR.HONDA_ODYSSEY_CHN: messages += [ ("SCM_FEEDBACK", 25), ("SCM_BUTTONS", 50), ] else: messages += [ ("SCM_FEEDBACK", 10), ("SCM_BUTTONS", 25), ] if CP.carFingerprint in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E): messages.append((gearbox_msg, 50)) else: messages.append((gearbox_msg, 100)) if CP.flags & HondaFlags.BOSCH_ALT_BRAKE: messages.append(("BRAKE_MODULE", 50)) if CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}): messages.append(("EPB_STATUS", 50)) if CP.carFingerprint in HONDA_BOSCH: # these messages are on camera bus on radarless cars if not CP.openpilotLongitudinalControl and CP.carFingerprint not in HONDA_BOSCH_RADARLESS: messages += [ ("ACC_HUD", 10), ("ACC_CONTROL", 50), ] else: # Nidec signals if CP.carFingerprint == CAR.HONDA_ODYSSEY_CHN: messages.append(("CRUISE_PARAMS", 10)) else: messages.append(("CRUISE_PARAMS", 50)) # TODO: clean this up if CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G): pass elif CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV): pass else: messages.append(("DOORS_STATUS", 3)) if CP.carFingerprint in HONDA_BOSCH_RADARLESS: messages.append(("CRUISE_FAULT_STATUS", 50)) elif CP.openpilotLongitudinalControl: messages.append(("STANDSTILL", 50)) return messages
[docs] class CarState(CarStateBase): def __init__(self, CP): super().__init__(CP) can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) self.gearbox_msg = "GEARBOX" if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt: self.gearbox_msg = "GEARBOX_15T" self.main_on_sig_msg = "SCM_FEEDBACK" if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES: self.main_on_sig_msg = "SCM_BUTTONS" self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"] 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.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
[docs] def update(self, cp, cp_cam, cp_body): ret = car.CarState.new_message() # 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 self.prev_cruise_buttons = self.cruise_buttons self.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"] # ******************* 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 # TODO: find a common signal across all cars if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G): ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV): ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) else: 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"]]) 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 ret.wheelSpeeds = self.get_wheel_speeds( cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"], cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"], cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"], cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"], ) v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.0 # blend in transmission speed at low speed, since it has more low speed accuracy v_weight = 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 # TODO: set for all cars if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}): ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0 gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"]) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None)) ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"] ret.gasPressed = ret.gas > 1e-5 ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"] ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"] 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. conversion = get_cruise_speed_conversion(self.CP.carFingerprint, self.is_metric) # 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"] * conversion 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 return ret
[docs] def get_can_parser(self, CP): messages = get_can_messages(CP, self.gearbox_msg) return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).pt)
[docs] @staticmethod def get_cam_can_parser(CP): messages = [ ("STEERING_CONTROL", 100), ] if CP.carFingerprint in HONDA_BOSCH_RADARLESS: messages += [ ("ACC_HUD", 10), ("LKAS_HUD", 10), ] elif CP.carFingerprint not in HONDA_BOSCH: messages += [ ("ACC_HUD", 10), ("LKAS_HUD", 10), ("BRAKE_COMMAND", 50), ] return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).camera)
[docs] @staticmethod def get_body_can_parser(CP): if CP.enableBsm: messages = [ ("BSM_STATUS_LEFT", 3), ("BSM_STATUS_RIGHT", 3), ] bus_body = CanBus(CP).radar # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port) return CANParser(DBC[CP.carFingerprint]["body"], messages, bus_body) return None