Honda Radarless: Send buttons to camera when engaged vs forwarding or…

… spamming.

selfdrive/car/honda/carcontroller.py

@@ -202,11 +202,27 @@ def update(self, CC, CS, now_nanos):
  if not self.CP.openpilotLongitudinalControl:
  if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: # radarless cars don't have supplemental message
  can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint))
- # If using stock ACC, spam cancel command to kill gas when OP disengages.
+ # Buttons: spam the cancel or resume buttons
+ cruise = None
+ setting = CruiseButtons.NONE
  if pcm_cancel_cmd:
- can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, self.CP.carFingerprint))
- elif CC.cruiseControl.resume:
- can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
+ cruise = CruiseButtons.CANCEL
+ elif self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS and CC.cruiseControl.resume:
+ cruise = CruiseButtons.RES_ACCEL
+ elif self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and CC.enabled and self.frame % 4 == 0:
+ # Intercept buttons when engaged. panda will forward when disengaged. Block the LKAS button coming from the car.
+ # Keep stock LKAS disabled so it can't disengage cruise when the wheel touch timeout expires.
+ cruise = CruiseButtons.NONE
+ if CS.cruise_buttons:
+ cruise = CS.cruise_buttons
+ elif CS.cruise_setting and CS.cruise_setting is not CruiseButtons.LKAS:
+ setting = CS.cruise_setting
+ elif CC.cruiseControl.resume:
+ cruise = CruiseButtons.RES_ACCEL
+ elif CS.lkas_hud['ENABLED']:
+ setting = CruiseButtons.LKAS
+ if cruise is not None:
+ can_sends.append(hondacan.create_buttons_command(self.packer, cruise, setting, CS.scm_buttons, self.CP.carFingerprint))
 
  else:
  # Send gas and brake commands.

selfdrive/car/honda/carstate.py

@@ -205,6 +205,7 @@ def update(self, cp, cp_cam, cp_body):
 
  if self.CP.carFingerprint in HONDA_BOSCH:
  if not self.CP.openpilotLongitudinalControl:
+ self.scm_buttons = cp.vl["SCM_BUTTONS"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else {}
  # 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

selfdrive/car/honda/hondacan.py

@@ -147,7 +147,8 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
  commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values))
 
  lkas_hud_values = {
- 'SET_ME_X41': 0x41,
+ 'ENABLED': 1,
+ 'SET_ME_X20': 0x20,
  'STEERING_REQUIRED': hud.steer_required,
  'SOLID_LANES': hud.lanes_visible,
  'BEEP': 0,
@@ -181,11 +182,17 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
  return commands
 
 
-def spam_buttons_command(packer, button_val, car_fingerprint):
+def create_buttons_command(packer, button_val, setting_val, stock_scm_buttons, car_fingerprint):
  values = {
- 'CRUISE_BUTTONS': button_val,
- 'CRUISE_SETTING': 0,
+ 'CRUISE_BUTTONS': button_val
  }
+ # Radarless: forward unmodified signals
+ if len(stock_scm_buttons):
+ values.update({
+ 'CRUISE_SETTING': setting_val,
+ 'BOH_1': stock_scm_buttons['BOH_1'],
+ 'BOH_2': stock_scm_buttons['BOH_2'],
+ })
  # send buttons to camera on radarless cars
  bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint)
  return packer.make_can_msg("SCM_BUTTONS", bus, values)

selfdrive/car/honda/interface.py

@@ -13,8 +13,9 @@
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 TransmissionType = car.CarParams.TransmissionType
-BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
- CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
+CRUISE_BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
+ CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
+SETTINGS_BUTTONS_DICT = {CruiseButtons.DISTANCE: ButtonType.gapAdjustCruise, CruiseButtons.LKAS: ButtonType.altButton1}
 
 
 class CarInterface(CarInterfaceBase):
@@ -312,8 +313,8 @@ def _update(self, c):
  ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
  ret.buttonEvents = [
- *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
- *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}),
+ *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, CRUISE_BUTTONS_DICT),
+ *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
  ]
 
  # events

selfdrive/car/honda/values.py

@@ -57,6 +57,11 @@ class CruiseButtons:
  DECEL_SET = 3
  CANCEL = 2
  MAIN = 1
+ NONE = 0
+
+# CRUISE_SETTINGS
+ DISTANCE = 3
+ LKAS = 1
 
 
 # See dbc files for info on values

selfdrive/car/tests/routes.py

@@ -93,7 +93,7 @@ class CarTestRoute(NamedTuple):
  CarTestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX),
  CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE),
  CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
- CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
+ CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022), # TODO: Replace with route where OP sends buttons to the cam when engaged
 
  CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN),
  CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.AZERA_HEV_6TH_GEN),

selfdrive/test/process_replay/test_processes.py

@@ -25,6 +25,7 @@
  ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2
  ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC)
  ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH)
+ # TODO: Add 'HONDA3' for radarless cars with OP sending buttons to camera when engaged
  ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA_2018_HYBRID
  ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500
  ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK
@@ -49,6 +50,7 @@
  ("TOYOTA3", "regen7204CA3A498|2023-10-30--23-15-55--0"),
  ("HONDA", "regen048F8FA0B24|2023-10-30--23-15-53--0"),
  ("HONDA2", "regen7D2D3F82D5B|2023-10-30--23-15-55--0"),
+ # TODO: Add 'HONDA3' for radarless cars with OP sending buttons to camera when engaged
  ("CHRYSLER", "regen7125C42780C|2023-10-30--23-16-21--0"),
  ("RAM", "regen2731F3213D2|2023-10-30--23-18-11--0"),
  ("SUBARU", "regen86E4C1B4DDD|2023-10-30--23-18-14--0"),