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

… spamming.

Co-authored-by: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com>

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"),