From d5cd457f827d698a1f4298d8efdda9800a87c018 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 21 Mar 2024 18:49:18 -0700
Subject: [PATCH] Honda Civic 2022: fix spotty camera query (#31963)

* no extra ecu

* cmt

* documentation

* update refs

* nice

* for testing

* byebye

* Update launch_openpilot.sh
---
 selfdrive/car/honda/values.py              | 22 +++++++++-------------
 selfdrive/car/tests/test_fw_fingerprint.py |  4 ++--
 2 files changed, 11 insertions(+), 15 deletions(-)

diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 1f59bd24d00893..ceb1d4f27ebbc6 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -261,9 +261,9 @@ class CAR(Platforms):
   )
 
 
-HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+HONDA_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(0xF112)
-HONDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+HONDA_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
   p16(0xF112)
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -276,17 +276,10 @@ class CAR(Platforms):
     ),
 
     # Data collection requests:
-    # Attempt to get the radarless Civic 2022+ camera FW
+    # Log manufacturer-specific identifier for current ECUs
     Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      bus=0,
-      logging=True
-    ),
-    # Log extra identifiers for current ECUs
-    Request(
-      [HONDA_VERSION_REQUEST],
-      [HONDA_VERSION_RESPONSE],
+      [HONDA_ALT_VERSION_REQUEST],
+      [HONDA_ALT_VERSION_RESPONSE],
       bus=1,
       logging=True,
     ),
@@ -326,7 +319,10 @@ class CAR(Platforms):
   },
   extra_ecus=[
     # The only other ECU on PT bus accessible by camera on radarless Civic
-    (Ecu.unknown, 0x18DAB3F1, None),
+    # This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1
+    # Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda'
+    # TODO: add query back, camera does not support querying both in parallel and 0x18dab0f1 often fails to respond
+    # (Ecu.unknown, 0x18DAB3F1, None),
   ],
 )
 
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index d9bea3b96530fb..17ffc358f118d4 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -263,14 +263,14 @@ def fake_get_ecu_addrs(*_, timeout):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = {1: 8.6, 2: 9.5}
+    total_ref_time = {1: 8.5, 2: 9.4}
     brand_ref_times = {
       1: {
         'gm': 1.0,
         'body': 0.1,
         'chrysler': 0.3,
         'ford': 1.5,
-        'honda': 0.55,
+        'honda': 0.45,
         'hyundai': 1.05,
         'mazda': 0.1,
         'nissan': 0.8,