Honda: Bus abstraction cleanup (#1592)

Honda: Cleanup LKAS bus abstraction

opendbc/car/honda/carcontroller.py

@@ -160,8 +160,7 @@ def update(self, CC, CS, now_nanos):
         can_sends.append(make_tester_present_msg(0x18DAB0F1, 1, suppress_response=True))
 
     # Send steering command.
-    can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_steer, CC.latActive, self.CP.carFingerprint,
-                                                      CS.CP.openpilotLongitudinalControl))
+    can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_steer, CC.latActive))
 
     # 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])
@@ -194,7 +193,7 @@ 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.CAN, self.CP.carFingerprint))
+        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN))
       # If using stock ACC, spam cancel command to kill gas when OP disengages.
       if pcm_cancel_cmd:
         can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))

opendbc/car/honda/hondacan.py

@@ -16,8 +16,11 @@ def __init__(self, CP=None, fingerprint=None) -> None:
 
     if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS):
       self._pt, self._radar = self.offset + 1, self.offset
+      # normally steering commands are sent to radar, which forwards them to powertrain bus
+      # when radar is disabled, steering commands are sent directly to powertrain bus
+      self._lkas = self._pt if CP.openpilotLongitudinalControl else self._radar
     else:
-      self._pt, self._radar = self.offset, self.offset + 1
+      self._pt, self._radar, self._lkas = self.offset, self.offset + 1, self.offset
 
   @property
   def pt(self) -> int:
@@ -31,14 +34,14 @@ def radar(self) -> int:
   def camera(self) -> int:
     return self.offset + 2
 
+  @property
+  def lkas(self) -> int:
+    return self._lkas
 
-def get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled=False):
-  no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS
-  if radar_disabled or no_radar:
-    # when radar is disabled, steering commands are sent directly to powertrain bus
-    return CAN.pt
-  # normally steering commands are sent to radar, which forwards them to powertrain bus
-  return 0
+  # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
+  @property
+  def body(self) -> int:
+    return self.offset
 
 
 def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
@@ -114,30 +117,27 @@ def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_count
   return commands
 
 
-def create_steering_control(packer, CAN, apply_steer, lkas_active, car_fingerprint, radar_disabled):
+def create_steering_control(packer, CAN, apply_steer, lkas_active):
   values = {
     "STEER_TORQUE": apply_steer if lkas_active else 0,
     "STEER_TORQUE_REQUEST": lkas_active,
   }
-  bus = get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled)
-  return packer.make_can_msg("STEERING_CONTROL", bus, values)
+  return packer.make_can_msg("STEERING_CONTROL", CAN.lkas, values)
 
 
-def create_bosch_supplemental_1(packer, CAN, car_fingerprint):
+def create_bosch_supplemental_1(packer, CAN):
   # non-active params
   values = {
     "SET_ME_X04": 0x04,
     "SET_ME_X80": 0x80,
     "SET_ME_X10": 0x10,
   }
-  bus = get_lkas_cmd_bus(CAN, car_fingerprint)
-  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
+  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", CAN.lkas, values)
 
 
 def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
   commands = []
   radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
-  bus_lkas = get_lkas_cmd_bus(CAN, CP.carFingerprint, radar_disabled)
 
   if CP.openpilotLongitudinalControl:
     acc_hud_values = {
@@ -183,10 +183,10 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
     lkas_hud_values['SET_ME_X48'] = 0x48
 
   if CP.flags & HondaFlags.BOSCH_EXT_HUD and not CP.openpilotLongitudinalControl:
-    commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values))
-    commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values))
+    commands.append(packer.make_can_msg('LKAS_HUD_A', CAN.lkas, lkas_hud_values))
+    commands.append(packer.make_can_msg('LKAS_HUD_B', CAN.lkas, lkas_hud_values))
   else:
-    commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values))
+    commands.append(packer.make_can_msg('LKAS_HUD', CAN.lkas, lkas_hud_values))
 
   if radar_disabled:
     radar_hud_values = {

opendbc/car/honda/interface.py

@@ -213,4 +213,4 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
   @staticmethod
   def init(CP, can_recv, can_send):
     if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
-      disable_ecu(can_recv, can_send, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
+      disable_ecu(can_recv, can_send, bus=CanBus(CP).pt, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')