Visiononly

.gitignore

@@ -32,3 +32,4 @@ selfdrive/test/tests/plant/out
 /src/
 
 one
+selfdrive/passwords.txt

cereal/car.capnp

@@ -282,6 +282,7 @@ struct CarParams {
   enableCamera @26 :Bool;
   enableDsu @27 :Bool; # driving support unit
   enableApgs @28 :Bool; # advanced parking guidance system
+  visionRadar @49 :Bool;
 
   minEnableSpeed @17 :Float32;
   safetyModel @18 :Int16;

cereal/log.capnp

@@ -1481,6 +1481,11 @@ struct Joystick {
   buttons @1: List(Bool);
 }
 
+struct VisionKeyboard {
+  gas @0: UInt64;
+  brake @1: UInt64;
+}
+
 struct OrbOdometry {
   # timing first
   startMonoTime @0 :UInt64;
@@ -1614,5 +1619,6 @@ struct Event {
     orbFeaturesSummary @58 :OrbFeaturesSummary;
     driverMonitoring @59 :DriverMonitoring;
     boot @60 :Boot;
+    visionKeyboard @61 :VisionKeyboard;
   }
 }

opendbc/generator/honda/_bosch_2018.dbc

@@ -116,12 +116,14 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
 BO_ 479 ACC_CONTROL: 8 EON
  SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
  SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
  SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE_FLAG : 7|7@0+ (1,0) [0|69] "" XXX
+ SG_ GAS_COMMAND : 0|9@0+ (0.001,0) [0|1] "" PCM
+ SG_ GAS_BRAKE : 31|13@0- (0.001,0) [0|1] "" XXX
+ SG_ BRAKING_1 : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKING_2 : 34|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 495 ACC_CONTROL_ON: 8 XXX
  SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX

opendbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc

@@ -16,6 +16,10 @@ BO_ 432 STANDSTILL: 7 VSA
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 
+BO_ 506 BLANK_1FA: 8 XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
 BO_ 892 CRUISE_PARAMS: 8 PCM
  SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

opendbc/honda_accord_s2t_2018_can_generated.dbc

@@ -120,12 +120,12 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
 BO_ 479 ACC_CONTROL: 8 EON
  SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
  SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
  SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ GAS_BRAKE : 31|14@0- (.001,0) [0|1] "" XXX
+ SG_ GAS_COMMAND : 0|9@0+ (.001,0) [0|1] "" PCM
+ SG_ STATE_FLAG : 7|7@0+ (1,0) [0|69] "" XXX
 
 BO_ 495 ACC_CONTROL_ON: 8 XXX
  SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX

opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc

@@ -120,12 +120,14 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
 BO_ 479 ACC_CONTROL: 8 EON
  SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
  SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
  SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE_FLAG : 7|7@0+ (1,0) [0|69] "" XXX
+ SG_ GAS_COMMAND : 0|9@0+ (0.001,0) [0|1] "" PCM
+ SG_ GAS_BRAKE : 31|13@0- (0.001,0) [0|1] "" XXX
+ SG_ BRAKING_1 : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKING_2 : 34|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 495 ACC_CONTROL_ON: 8 XXX
  SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
@@ -283,6 +285,10 @@ BO_ 432 STANDSTILL: 7 VSA
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 
+BO_ 506 BLANK_1FA: 8 XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
 BO_ 892 CRUISE_PARAMS: 8 PCM
  SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

opendbc/honda_crv_ex_2017_can_generated.dbc

@@ -120,12 +120,12 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
 BO_ 479 ACC_CONTROL: 8 EON
  SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
  SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
  SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ GAS_BRAKE : 31|14@0- (.001,0) [0|1] "" XXX
+ SG_ GAS_COMMAND : 0|9@0+ (.001,0) [0|1] "" PCM
+ SG_ STATE_FLAG : 7|7@0+ (1,0) [0|69] "" XXX
 
 BO_ 495 ACC_CONTROL_ON: 8 XXX
  SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX

panda/board/safety/safety_honda.h

@@ -33,7 +33,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if (buttons == 4 || buttons == 3) {
       controls_allowed = 1;
     } else if (buttons == 2) {
-      controls_allowed = 0;
+      controls_allowed = 1;
     }
   }
 
@@ -50,7 +50,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   if (IS_USER_BRAKE_MSG(to_push)) {
     int brake = USER_BRAKE_VALUE(to_push);
     if (brake && (!(brake_prev) || ego_speed)) {
-      controls_allowed = 0;
+      controls_allowed = 1;
     }
     brake_prev = brake;
   }
@@ -62,7 +62,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
     if ((gas_interceptor > gas_interceptor_threshold) &&
         (gas_interceptor_prev <= gas_interceptor_threshold)) {
-      controls_allowed = 0;
+      controls_allowed = 1;
     }
     gas_interceptor_prev = gas_interceptor;
   }
@@ -72,7 +72,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if ((to_push->RIR>>21) == 0x17C) {
       int gas = to_push->RDLR & 0xFF;
       if (gas && !(gas_prev)) {
-        controls_allowed = 0;
+        controls_allowed = 1;
       }
       gas_prev = gas;
     }
@@ -86,7 +86,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 //     block all commands that produce actuation
 
 static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
-
+  return true;
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
   int pedal_pressed = gas_prev || (gas_interceptor_prev > gas_interceptor_threshold) ||
@@ -119,7 +119,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
       if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) return 0;
     }
   }
-  
+
   // FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
   // ensuring that only the cancel button press is sent (VAL 2) when controls are off.
   // This avoids unintended engagements while still allowing resume spam

selfdrive/car/car_helpers.py

@@ -102,5 +102,5 @@ def get_car(logcan, sendcan=None, passive=True):
     return None, None
 
   params = interface_cls.get_params(candidate, fingerprints)
-
+  
   return interface_cls(params, sendcan), params

selfdrive/car/honda/carcontroller.py

@@ -6,7 +6,17 @@
 from selfdrive.car.honda import hondacan
 from selfdrive.car.honda.values import AH, CruiseButtons, CAR
 from selfdrive.can.packer import CANPacker
+import zmq
+import selfdrive.messaging as messaging
+from selfdrive.services import service_list
 
+# Accel limits from toyota
+ACCEL_HYST_GAP = 0.02  # was 0.02 # don't change accel command for small oscilalitons within this value
+ACCEL_MAX = 1.5  # 1.5 m/s2
+ACCEL_MIN = -3.0 # 3   m/s2
+ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)
+
+#honda
 def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
   # hyst params... TODO: move these to VehicleParams
   brake_hyst_on = 0.02     # to activate brakes exceed this value
@@ -32,6 +42,20 @@ def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
 
   return brake, braking, brake_steady
 
+#from toyota
+def accel_hysteresis(accel, accel_prev, enabled):
+
+  # for small accel oscillations within ACCEL_HYST_GAP, don't change the accel command
+  if not enabled:
+    # send 0 when disabled, otherwise acc faults
+    accel_prev = 0.
+  elif accel > accel_prev + ACCEL_HYST_GAP:
+    accel_prev = accel - ACCEL_HYST_GAP
+  elif accel < accel_prev - ACCEL_HYST_GAP:
+    accel_prev = accel + ACCEL_HYST_GAP
+  accel = accel_prev
+
+  return accel, accel_prev
 
 def process_hud_alert(hud_alert):
   # initialize to no alert
@@ -60,16 +84,22 @@ def __init__(self, dbc_name, enable_camera=True):
     self.braking = False
     self.brake_steady = 0.
     self.brake_last = 0.
+    self.accel_prev = 0.
     self.enable_camera = enable_camera
     self.packer = CANPacker(dbc_name)
     self.new_radar_config = False
 
+    context = zmq.Context()
+    poller = zmq.Poller()
+    keyboard = messaging.sub_sock(context, service_list['visionKeyboard'].port, conflate=True, poller=poller)
+
   def update(self, sendcan, enabled, CS, frame, actuators, \
              pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
              radar_error, hud_v_cruise, hud_show_lanes, hud_show_car, \
              hud_alert, snd_beep, snd_chime):
 
     """ Controls thread """
+    CS.setspeed = hud_v_cruise
 
     if not self.enable_camera:
       return
@@ -122,10 +152,16 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
       STEER_MAX = 0x3e8  # CR-V only uses 12-bits and requires a lower value (max value from energee)
     else:
       STEER_MAX = 0x1000
+    #steer torque is converted back to CAN reference (positive when steering right)
+    if CS.CP.visionRadar:
+      # gas and brake. braking is negative
+      apply_accel = actuators.gas - actuators.brake
+      apply_accel, self.accel_prev = accel_hysteresis(apply_accel, self.accel_prev, enabled)
+      apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
 
-    # steer torque is converted back to CAN reference (positive when steering right)
-    apply_gas = clip(actuators.gas, 0., 1.)
-    apply_brake = int(clip(self.brake_last * BRAKE_MAX, 0, BRAKE_MAX - 1))
+    else:
+      apply_gas = clip(actuators.gas, 0., 1.)
+      apply_brake = int(clip(self.brake_last * BRAKE_MAX, 0, BRAKE_MAX))
     apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))
 
     # any other cp.vl[0x18F]['STEER_STATUS'] is common and can happen during user override. sending 0 torque to avoid EPS sending error 5
@@ -136,37 +172,41 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
 
     # Send steering command.
     idx = frame % 4
-    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, lkas_active, CS.CP.carFingerprint, idx))
+    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, lkas_active, CS.CP.carFingerprint, CS.CP.visionRadar, CS.CP.radarOffCan, idx))
 
     # Send dashboard UI commands.
     if (frame % 10) == 0:
       idx = (frame/10) % 4
-      can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, idx))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, CS.longenabled, CS.CP.visionRadar, CS.CP.radarOffCan, idx))
 
-    if CS.CP.radarOffCan:
+    if CS.CP.radarOffCan and not CS.CP.visionRadar:
       # 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, CruiseButtons.CANCEL, idx))
       elif CS.stopped:
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx))
-    else:
-      # Send gas and brake commands.
-      if (frame % 2) == 0:
-        idx = (frame / 2) % 4
+    # Send gas and brake commands.
+    if (frame % 2) == 0:
+      idx = (frame / 2) % 4
+      if CS.CP.visionRadar and CS.CP.carFingerprint == CAR.CIVIC_HATCH:
+        can_sends.append(hondacan.create_long_command(self.packer, enabled, CS.longenabled, apply_accel, idx))
+        can_sends.append(hondacan.create_acc_control_on(self.packer, enabled, idx))
+        can_sends.append(hondacan.create_1fa(self.packer, idx))
+      else:
         can_sends.append(
           hondacan.create_brake_command(self.packer, apply_brake, pcm_override,
                                       pcm_cancel_cmd, hud.chime, hud.fcw, idx))
-        if CS.CP.enableGasInterceptor:
-          # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
-          # This prevents unexpected pedal range rescaling
-          can_sends.append(hondacan.create_gas_command(self.packer, apply_gas, idx))
-
-      # radar at 20Hz, but these msgs need to be sent at 50Hz on ilx (seems like an Acura bug)
-      if CS.CP.carFingerprint == CAR.ACURA_ILX:
-        radar_send_step = 2
-      else:
-        radar_send_step = 5
-
+      if CS.CP.enableGasInterceptor:
+        # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
+        # This prevents unexpected pedal range rescaling
+        can_sends.append(hondacan.create_gas_command(self.packer, apply_gas, idx))
+
+    # radar at 20Hz, but these msgs need to be sent at 50Hz on ilx (seems like an Acura bug)
+    if CS.CP.carFingerprint == CAR.ACURA_ILX:
+      radar_send_step = 2
+    else:
+      radar_send_step = 5
+    if not CS.CP.visionRadar:
       if (frame % radar_send_step) == 0:
         idx = (frame/radar_send_step) % 4
         if not self.new_radar_config:  # only change state once