Honda carcontroller and signal cleanup (commaai#24806)

* common signals * move stopping * space * clean up * bump opendbc
spektor56 · Jun 29, 2022 · ab3898f · ab3898f
1 parent 41daad2
commit ab3898f
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Showing 2 changed files with 28 additions and 48 deletions.
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
@@ -95,8 +95,8 @@ def process_hud_alert(hud_alert):
 
 
 HUDData = namedtuple("HUDData",
-                     ["pcm_accel", "v_cruise", "car",
-                      "lanes", "fcw", "acc_alert", "steer_required"])
+                     ["pcm_accel", "v_cruise", "lead_visible",
+                      "lanes_visible", "fcw", "acc_alert", "steer_required"])
 
 
 class CarController:
@@ -138,19 +138,6 @@ def update(self, CC, CS):
     self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL)
 
     # vehicle hud display, wait for one update from 10Hz 0x304 msg
-    if hud_control.lanesVisible:
-      hud_lanes = 1
-    else:
-      hud_lanes = 0
-
-    if CC.enabled:
-      if hud_control.leadVisible:
-        hud_car = 2
-      else:
-        hud_car = 1
-    else:
-      hud_car = 0
-
     fcw_display, steer_required, acc_alert = process_hud_alert(hud_control.visualAlert)
 
     # **** process the car messages ****
@@ -172,8 +159,6 @@ def update(self, CC, CS):
     can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint,
                                                       idx, CS.CP.openpilotLongitudinalControl))
 
-    stopping = actuators.longControlState == LongCtrlState.stopping
-
     # wind brake from air resistance decel at high speed
     wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
     # all of this is only relevant for HONDA NIDEC
@@ -222,6 +207,8 @@ def update(self, CC, CS):
         if self.CP.carFingerprint in HONDA_BOSCH:
           self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX)
           self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
+
+          stopping = actuators.longControlState == LongCtrlState.stopping
           can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
                                                         idx, stopping, self.CP.carFingerprint))
         else:
@@ -252,9 +239,9 @@ def update(self, CC, CS):
     # Send dashboard UI commands.
     if self.frame % 10 == 0:
       idx = (self.frame // 10) % 4
-      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,
-                    hud_lanes, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
+      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, idx, CS.stock_hud))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed

diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
@@ -98,47 +98,40 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx):
   return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
 
 
-def create_ui_commands(packer, CP, pcm_speed, hud, is_metric, idx, stock_hud):
+def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud):
   commands = []
   bus_pt = get_pt_bus(CP.carFingerprint)
   radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
   bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled)
 
   if CP.openpilotLongitudinalControl:
+    acc_hud_values = {
+      'CRUISE_SPEED': hud.v_cruise,
+      'ENABLE_MINI_CAR': 1,
+      'HUD_DISTANCE': 3,  # max distance setting on display
+      'IMPERIAL_UNIT': int(not is_metric),
+      'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
+      'SET_ME_X01_2': 1,
+    }
+
     if CP.carFingerprint in HONDA_BOSCH:
-      acc_hud_values = {
-        'CRUISE_SPEED': hud.v_cruise,
-        'ENABLE_MINI_CAR': 1,
-        'SET_TO_1': 1,
-        'HUD_LEAD': hud.car,
-        'HUD_DISTANCE': 3,
-        'ACC_ON': hud.car != 0,
-        'SET_TO_X1': 1,
-        'IMPERIAL_UNIT': int(not is_metric),
-        'FCM_OFF': 1,
-      }
+      acc_hud_values['ACC_ON'] = hud.car != 0
+      acc_hud_values['FCM_OFF'] = 1
+      acc_hud_values['FCM_OFF_2'] = 1
     else:
-      acc_hud_values = {
-        'PCM_SPEED': pcm_speed * CV.MS_TO_KPH,
-        'PCM_GAS': hud.pcm_accel,
-        'CRUISE_SPEED': hud.v_cruise,
-        'ENABLE_MINI_CAR': 1,
-        'HUD_LEAD': hud.car,
-        'HUD_DISTANCE': 3,    # max distance setting on display
-        'IMPERIAL_UNIT': int(not is_metric),
-        'SET_ME_X01_2': 1,
-        'SET_ME_X01': 1,
-        "FCM_OFF": stock_hud["FCM_OFF"],
-        "FCM_OFF_2": stock_hud["FCM_OFF_2"],
-        "FCM_PROBLEM": stock_hud["FCM_PROBLEM"],
-        "ICONS": stock_hud["ICONS"],
-      }
+      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']
     commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values, idx))
 
   lkas_hud_values = {
     'SET_ME_X41': 0x41,
     'STEERING_REQUIRED': hud.steer_required,
-    'SOLID_LANES': hud.lanes,
+    'SOLID_LANES': hud.lanes_visible,
     'BEEP': 0,
   }