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Logic restructure #299

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Logic restructure #299

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07e4084
carstate restructuring
dek3rr Jun 27, 2018
d650702
fixed errors
dek3rr Jun 27, 2018
e28b403
format
dek3rr Jun 27, 2018
b886bd8
fix variable
dek3rr Jun 27, 2018
80e63bc
fix conditional
dek3rr Jun 27, 2018
55089d8
nested ifs
dek3rr Jun 28, 2018
18e953f
condensed IFs
dek3rr Jun 28, 2018
ade7e92
signal consolidation
dek3rr Jul 1, 2018
69de351
fix signal order
dek3rr Jul 1, 2018
42c9ca2
merge reset
dek3rr Jul 14, 2018
5565ad9
single responsibility conditions
dek3rr Jul 14, 2018
a81eab1
spacing/comments
dek3rr Jul 14, 2018
e8747d1
fixed naming
dek3rr Jul 15, 2018
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96 changes: 40 additions & 56 deletions selfdrive/car/honda/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -102,23 +102,6 @@ def get_can_signals(CP):
("SCM_BUTTONS", 25),
]

if CP.radarOffCan:
# Civic is only bosch to use the same brake message as other hondas.
if CP.carFingerprint != CAR.CIVIC_HATCH:
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
checks += [("BRAKE_MODULE", 50)]
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_FEEDBACK", 0),
("EPB_STATE", "EPB_STATUS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
("CRUISE_SPEED", "ACC_HUD", 0)]
checks += [("GAS_PEDAL_2", 100)]
else:
# Nidec signals.
signals += [("CRUISE_SPEED_PCM", "CRUISE", 0),
("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
checks += [("CRUISE_PARAMS", 50)]

if CP.carFingerprint == CAR.ACCORD:
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
else:
Expand All @@ -129,29 +112,33 @@ def get_can_signals(CP):
("WHEELS_MOVING", "STANDSTILL", 1)]
checks += [("DOORS_STATUS", 3)]

if CP.carFingerprint == CAR.CIVIC:
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_FEEDBACK", 0),
("EPB_STATE", "EPB_STATUS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
elif CP.carFingerprint == CAR.ACURA_ILX:
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_BUTTONS", 0)]
elif CP.carFingerprint == CAR.CRV:
signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
elif CP.carFingerprint == CAR.ACURA_RDX:
signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
elif CP.carFingerprint == CAR.ODYSSEY:
# use main on and parking brake signals common to bosch dbc
if CP.radarOffCan or CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY):
signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
("EPB_STATE", "EPB_STATUS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
checks += [("EPB_STATUS", 50)]
elif CP.carFingerprint == CAR.PILOT:
signals += [("MAIN_ON", "SCM_BUTTONS", 0),
("CAR_GAS", "GAS_PEDAL_2", 0)]
elif CP.carFingerprint == CAR.RIDGELINE:
else:
signals += [("MAIN_ON", "SCM_BUTTONS", 0)]

# use gas signals common to bosch dbc
if CP.radarOffCan or CP.carFingerprint in (CAR.ACURA_ILX, CAR.CIVIC, CAR.PILOT):
signals += [("CAR_GAS", "GAS_PEDAL_2", 0)]
checks += [("GAS_PEDAL_2", 100)]

# bosch cruise signals
if CP.radarOffCan:
signals += [("CRUISE_SPEED", "ACC_HUD", 0)]
else:
signals += [("CRUISE_SPEED_PCM", "CRUISE", 0),
("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
checks += [("CRUISE_PARAMS", 50)]

# bosch brake signals
if CP.radarOffCan and CP.carFingerprint != CAR.CIVIC_HATCH:
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
checks += [("BRAKE_MODULE", 50)]

# add gas interceptor reading if we are using it
if CP.enableGasInterceptor:
signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
Expand Down Expand Up @@ -219,6 +206,7 @@ def update(self, cp):
self.standstill = not cp.vl["STANDSTILL"]['WHEELS_MOVING']
self.door_all_closed = not 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']])

self.seatbelt = not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] and cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED']

# 2 = temporary; 3 = TBD; 4 = temporary, hit a bump; 5 = (permanent); 6 = temporary; 7 = (permanent)
Expand All @@ -234,7 +222,7 @@ def update(self, cp):
self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
self.v_wheel = (self.v_wheel_fl+self.v_wheel_fr+self.v_wheel_rl+self.v_wheel_rr)/4.
self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.

# blend in transmission speed at low speed, since it has more low speed accuracy
self.v_weight = interp(self.v_wheel, v_weight_bp, v_weight_v)
Expand All @@ -254,7 +242,6 @@ def update(self, cp):
self.user_gas = cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS']
self.user_gas_pressed = self.user_gas > 0 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change

can_gear_shifter = cp.vl["GEARBOX"]['GEAR_SHIFTER']
self.gear = 0 if self.CP.carFingerprint == CAR.CIVIC else cp.vl["GEARBOX"]['GEAR']
self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
Expand All @@ -266,23 +253,24 @@ def update(self, cp):
self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']

if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_HATCH):
if self.CP.radarOffCan or self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY):
self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
else:
self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
self.park_brake = 0 # TODO
self.brake_hold = 0 # TODO
self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']

can_gear_shifter = cp.vl["GEARBOX"]['GEAR_SHIFTER']
self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.CP.carFingerprint)

self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
# crv doesn't include cruise control
if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE):
self.car_gas = self.pedal_gas
else:

if self.CP.radarOffCan or self.CP.carFingerprint in (CAR.ACURA_ILX, CAR.CIVIC, CAR.PILOT):
self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
else:
self.car_gas = self.pedal_gas

#rdx has different steer override threshold
steer_thrsld = 400 if self.CP.carFingerprint == CAR.ACURA_RDX else 1200
Expand All @@ -291,30 +279,26 @@ def update(self, cp):

self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']

#Bosch cruise
if self.CP.radarOffCan:
self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
if self.CP.carFingerprint == CAR.CIVIC_HATCH:
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
(self.brake_switch and self.brake_switch_prev and \
cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
self.brake_switch_prev = self.brake_switch
self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
else:
self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
self.v_cruise_pcm = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]['CRUISE_SPEED'] > 160.0 else cp.vl["ACC_HUD"]['CRUISE_SPEED']
self.v_cruise_pcm_prev = self.v_cruise_pcm
else:
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
self.cruise_speed_offset = calc_cruise_offset(cp.vl["CRUISE_PARAMS"]['CRUISE_SPEED_OFFSET'], self.v_ego)
self.v_cruise_pcm = cp.vl["CRUISE"]['CRUISE_SPEED_PCM']

#Bosch brake: exclude Civic Hatch
if self.CP.radarOffCan and self.CP.carFingerprint != CAR.CIVIC_HATCH:
self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
else:
# brake switch has shown some single time step noise, so only considered when
# switch is on for at least 2 consecutive CAN samples
self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
(self.brake_switch and self.brake_switch_prev and \
cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
self.brake_pressed = (cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
(self.brake_switch and self.brake_switch_prev and \
cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts))
self.brake_switch_prev = self.brake_switch
self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']

Expand Down