Merge pull request #70 from menwenliang/devel-i18n

Devel i18n

opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc

@@ -418,13 +418,15 @@ BO_ 892 CRUISE_PARAMS: 8 PCM
 BO_ 927 RADAR_HUD: 8 RADAR
  SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
  SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
  SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
  SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
  SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
  SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
  SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 

opendbc/honda_crv_hybrid_2019_can_generated.dbc

@@ -405,13 +405,15 @@ BO_ 432 STANDSTILL: 7 VSA
 BO_ 927 RADAR_HUD: 8 RADAR
  SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
  SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
  SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
  SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
  SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
  SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
  SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 

selfdrive/car/honda/carcontroller.py

@@ -100,6 +100,23 @@ def __init__(self, dbc_name, CP, VM):
     # dp
     self.last_blinker_on = False
     self.blinker_end_frame = 0.
+    self.prev_lead_distance = 0.0
+    self.stopped_lead_distance = 0.0
+    self.lead_distance_counter = 1
+    self.lead_distance_counter_prev = 1
+    self.rough_lead_speed = 0.0
+
+  def rough_speed(self, lead_distance):
+    if self.prev_lead_distance != lead_distance:
+      self.lead_distance_counter_prev = self.lead_distance_counter
+      self.rough_lead_speed += 0.3334 * (
+                (lead_distance - self.prev_lead_distance) / self.lead_distance_counter_prev - self.rough_lead_speed)
+      self.lead_distance_counter = 0.0
+    elif self.lead_distance_counter >= self.lead_distance_counter_prev:
+      self.rough_lead_speed = (self.lead_distance_counter * self.rough_lead_speed) / (self.lead_distance_counter + 1.0)
+    self.lead_distance_counter += 1.0
+    self.prev_lead_distance = lead_distance
+    return self.rough_lead_speed
 
   def update(self, enabled, CS, frame, actuators,
              pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel,
@@ -179,8 +196,23 @@ def update(self, enabled, CS, frame, actuators,
       elif not dragonconf.dpAllowGas and pcm_cancel_cmd:
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
       elif CS.out.cruiseState.standstill:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
-
+        if CS.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
+          rough_lead_speed = self.rough_speed(CS.lead_distance)
+          if CS.lead_distance > (self.stopped_lead_distance + 15.0) or rough_lead_speed > 0.1:
+            self.stopped_lead_distance = 0.0
+            can_sends.append(
+              hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint,
+                                            CS.CP.isPandaBlack))
+        elif CS.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
+          if CS.hud_lead == 1:
+            can_sends.append(
+              hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint,
+                                            CS.CP.isPandaBlack))
+        else:
+          can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint,CS.CP.isPandaBlack))
+      else:
+        self.stopped_lead_distance = CS.lead_distance
+        self.prev_lead_distance = CS.lead_distance
     else:
       # Send gas and brake commands.
       if (frame % 2) == 0:

selfdrive/car/honda/carstate.py

@@ -42,6 +42,7 @@ def get_can_signals(CP):
       ("ESP_DISABLED", "VSA_STATUS", 1),
       ("USER_BRAKE", "VSA_STATUS", 0),
       ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
+      ("HUD_LEAD", "ACC_HUD", 0),
       ("STEER_STATUS", "STEER_STATUS", 5),
       ("GEAR_SHIFTER", "GEARBOX", 0),
       ("PEDAL_GAS", "POWERTRAIN_DATA", 0),
@@ -106,8 +107,13 @@ def get_can_signals(CP):
       checks += [("CRUISE_PARAMS", 10)]
     else:
       checks += [("CRUISE_PARAMS", 50)]
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
-    signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.INSIGHT):
+      signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1),
+                  ("LEAD_DISTANCE", "RADAR_HUD", 0)]
+      checks += [("RADAR_HUD", 50)]
+  elif CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID,  CAR.ACURA_RDX_3G):
+      signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
+      checks += [("RADAR_HUD", 50)]
   elif CP.carFingerprint == CAR.ODYSSEY_CHN:
     signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
   elif CP.carFingerprint in [CAR.HRV, CAR.JADE]:
@@ -191,9 +197,13 @@ def update(self, cp, cp_cam, cp_body):
 
     # ******************* parse out can *******************
     # TODO: find wheels moving bit in dbc
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
-      ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
-      ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.INSIGHT):
+        ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
+        ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
+        self.lead_distance = cp.vl["RADAR_HUD"]['LEAD_DISTANCE']
+    elif self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID,  CAR.ACURA_RDX_3G):
+        ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
+        ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
     elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
       ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]['DRIVERS_DOOR_OPEN'])
@@ -315,6 +325,9 @@ def update(self, cp, cp_cam, cp_body):
     ret.cruiseState.available = bool(main_on)
     ret.cruiseState.nonAdaptive = self.cruise_mode != 0
 
+    # afa feature
+    self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']
+
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
     if self.CP.carFingerprint in (CAR.PILOT, CAR.PILOT_2019, CAR.RIDGELINE):
       if ret.brake > 0.05: