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Honda: move to platformconfig (#31637)

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* cleanup + use sets for now

* update ref

* update ref
old-commit-hash: 5734d7c2bf13c217e469d37c4900321cba469121
This commit is contained in:
Justin Newberry
2024-02-29 14:29:40 -05:00
committed by GitHub
parent 1567508bd4
commit 1a5b057983
4 changed files with 190 additions and 108 deletions
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2
selfdrive/car/__init__.py
View File

@@ -245,7 +245,7 @@ class CanSignalRateCalculator:
return self.rate
CarInfos = CarInfo | list[CarInfo]
CarInfos = CarInfo | list[CarInfo] | None
@dataclass(frozen=True, kw_only=True)

288
selfdrive/car/honda/values.py
View File

@@ -1,10 +1,10 @@
from dataclasses import dataclass
from enum import Enum, IntFlag, StrEnum
from enum import Enum, IntFlag
from cereal import car
from openpilot.common.conversions import Conversions as CV
from panda.python import uds
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car import PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
@@ -46,10 +46,21 @@ class CarControllerParams:
class HondaFlags(IntFlag):
# Detected flags
# Bosch models with alternate set of LKAS_HUD messages
BOSCH_EXT_HUD = 1
BOSCH_ALT_BRAKE = 2
# Static flags
BOSCH = 4
BOSCH_RADARLESS = 8
NIDEC = 16
NIDEC_ALT_PCM_ACCEL = 32
NIDEC_ALT_SCM_MESSAGES = 64
AUTORESUME_SNG = 128
ELECTRIC_PARKING_BRAKE = 256
# Car button codes
class CruiseButtons:
@@ -72,29 +83,15 @@ VISUAL_HUD = {
}
class CAR(StrEnum):
ACCORD = "HONDA ACCORD 2018"
CIVIC = "HONDA CIVIC 2016"
CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
CIVIC_2022 = "HONDA CIVIC 2022"
ACURA_ILX = "ACURA ILX 2016"
CRV = "HONDA CR-V 2016"
CRV_5G = "HONDA CR-V 2017"
CRV_EU = "HONDA CR-V EU 2016"
CRV_HYBRID = "HONDA CR-V HYBRID 2019"
FIT = "HONDA FIT 2018"
FREED = "HONDA FREED 2020"
HRV = "HONDA HRV 2019"
HRV_3G = "HONDA HR-V 2023"
ODYSSEY = "HONDA ODYSSEY 2018"
ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
ACURA_RDX = "ACURA RDX 2018"
ACURA_RDX_3G = "ACURA RDX 2020"
PILOT = "HONDA PILOT 2017"
RIDGELINE = "HONDA RIDGELINE 2017"
INSIGHT = "HONDA INSIGHT 2019"
HONDA_E = "HONDA E 2020"
@dataclass
class HondaCarInfo(CarInfo):
package: str = "Honda Sensing"
def init_make(self, CP: car.CarParams):
if CP.flags & HondaFlags.BOSCH:
self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.flags & HondaFlags.BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
else:
self.car_parts = CarParts.common([CarHarness.nidec])
class Footnote(Enum):
@@ -103,55 +100,164 @@ class Footnote(Enum):
Column.FSR_STEERING)
@dataclass
class HondaCarInfo(CarInfo):
package: str = "Honda Sensing"
def init_make(self, CP: car.CarParams):
if CP.carFingerprint in HONDA_BOSCH:
self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
else:
self.car_parts = CarParts.common([CarHarness.nidec])
class HondaPlatformConfig(PlatformConfig):
def init(self):
if self.flags & HondaFlags.BOSCH:
self.flags |= HondaFlags.AUTORESUME_SNG
self.flags |= HondaFlags.ELECTRIC_PARKING_BRAKE
CAR_INFO: dict[str, HondaCarInfo | list[HondaCarInfo] | None] = {
CAR.ACCORD: [
HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
],
CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
CAR.CIVIC_BOSCH: [
HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
],
CAR.CIVIC_BOSCH_DIESEL: None, # same platform
CAR.CIVIC_2022: [
HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
],
CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring
CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"),
CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"),
CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey
CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.PILOT: [
HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
],
CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
}
class CAR(Platforms):
# Bosch Cars
ACCORD = HondaPlatformConfig(
"HONDA ACCORD 2018",
[
HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
],
dbc_dict('honda_accord_2018_can_generated', None),
flags=HondaFlags.BOSCH,
)
CIVIC_BOSCH = HondaPlatformConfig(
"HONDA CIVIC (BOSCH) 2019",
[
HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
],
dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
flags=HondaFlags.BOSCH
)
CIVIC_BOSCH_DIESEL = HondaPlatformConfig(
"HONDA CIVIC SEDAN 1.6 DIESEL 2019",
None, # don't show in docs
dbc_dict('honda_accord_2018_can_generated', None),
flags=HondaFlags.BOSCH
)
CIVIC_2022 = HondaPlatformConfig(
"HONDA CIVIC 2022",
[
HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
],
dbc_dict('honda_civic_ex_2022_can_generated', None),
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS,
)
CRV_5G = HondaPlatformConfig(
"HONDA CR-V 2017",
HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
flags=HondaFlags.BOSCH,
)
CRV_HYBRID = HondaPlatformConfig(
"HONDA CR-V HYBRID 2019",
HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_accord_2018_can_generated', None),
flags=HondaFlags.BOSCH
)
HRV_3G = HondaPlatformConfig(
"HONDA HR-V 2023",
HondaCarInfo("Honda HR-V 2023", "All"),
dbc_dict('honda_civic_ex_2022_can_generated', None),
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS
)
ACURA_RDX_3G = HondaPlatformConfig(
"ACURA RDX 2020",
HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
dbc_dict('acura_rdx_2020_can_generated', None),
flags=HondaFlags.BOSCH
)
INSIGHT = HondaPlatformConfig(
"HONDA INSIGHT 2019",
HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
dbc_dict('honda_insight_ex_2019_can_generated', None),
flags=HondaFlags.BOSCH
)
HONDA_E = HondaPlatformConfig(
"HONDA E 2020",
HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
dbc_dict('acura_rdx_2020_can_generated', None),
flags=HondaFlags.BOSCH
)
# Nidec Cars
ACURA_ILX = HondaPlatformConfig(
"ACURA ILX 2016",
HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CRV = HondaPlatformConfig(
"HONDA CR-V 2016",
HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CRV_EU = HondaPlatformConfig(
"HONDA CR-V EU 2016",
None, # Euro version of CRV Touring, don't show in docs
dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
FIT = HondaPlatformConfig(
"HONDA FIT 2018",
HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
FREED = HondaPlatformConfig(
"HONDA FREED 2020",
HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
HRV = HondaPlatformConfig(
"HONDA HRV 2019",
HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
ODYSSEY = HondaPlatformConfig(
"HONDA ODYSSEY 2018",
HondaCarInfo("Honda Odyssey 2018-20"),
dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_PCM_ACCEL
)
ODYSSEY_CHN = HondaPlatformConfig(
"HONDA ODYSSEY CHN 2019",
None, # Chinese version of Odyssey, don't show in docs
dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES
)
ACURA_RDX = HondaPlatformConfig(
"ACURA RDX 2018",
HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
PILOT = HondaPlatformConfig(
"HONDA PILOT 2017",
[
HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
],
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
RIDGELINE = HondaPlatformConfig(
"HONDA RIDGELINE 2017",
HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CIVIC = HondaPlatformConfig(
"HONDA CIVIC 2016",
HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.AUTORESUME_SNG | HondaFlags.ELECTRIC_PARKING_BRAKE,
)
HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xF112)
@@ -217,40 +323,16 @@ FW_QUERY_CONFIG = FwQueryConfig(
)
DBC = {
CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None),
CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_accord_2018_can_generated', None),
CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CRV_HYBRID: dbc_dict('honda_accord_2018_can_generated', None),
CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None),
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None),
CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None),
}
STEER_THRESHOLD = {
# default is 1200, overrides go here
CAR.ACURA_RDX: 400,
CAR.CRV_EU: 400,
}
HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
CAR.PILOT, CAR.RIDGELINE}
HONDA_BOSCH = {CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}
HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)
HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()

6
selfdrive/car/tests/test_models.py
View File

@@ -17,7 +17,7 @@ from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import gen_empty_fingerprint
from openpilot.selfdrive.car.fingerprints import all_known_cars
from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
from openpilot.selfdrive.controls.controlsd import Controls
from openpilot.selfdrive.test.helpers import read_segment_list
@@ -381,7 +381,7 @@ class TestCarModelBase(unittest.TestCase):
if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
if not (self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH):
if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
@@ -442,7 +442,7 @@ class TestCarModelBase(unittest.TestCase):
# On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
# On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
# openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
if self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH:
if self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
# only the rising edges are expected to match
if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
checks['controlsAllowed'] += not self.safety.get_controls_allowed()

2
selfdrive/test/process_replay/ref_commit
View File

@@ -1 +1 @@
658699a6ba183bd97f161baa29cd4764b6bd2c30
5aa0f4c0ab2cebccc3596aa8ef529fdb94a43643