Grey and white panda are supported

Author: sshane

selfdrive/car/car_helpers.py

@@ -84,11 +84,11 @@ def only_toyota_left(candidate_cars):
 
 
 # **** for use live only ****
-def fingerprint(logcan, sendcan):
+def fingerprint(logcan, sendcan, has_relay):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
 
-  if not fixed_fingerprint and not skip_fw_query:
+  if has_relay and not fixed_fingerprint and not skip_fw_query:
     # Vin query only reliably works thorugh OBDII
     bus = 1
 
@@ -170,15 +170,15 @@ def fingerprint(logcan, sendcan):
   return car_fingerprint, finger, vin, car_fw, source
 
 
-def get_car(logcan, sendcan):
-  candidate, fingerprints, vin, car_fw, source = fingerprint(logcan, sendcan)
+def get_car(logcan, sendcan, has_relay=False):
+  candidate, fingerprints, vin, car_fw, source = fingerprint(logcan, sendcan, has_relay)
 
   if candidate is None:
     cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
     candidate = "mock"
 
   CarInterface, CarController, CarState = interfaces[candidate]
-  car_params = CarInterface.get_params(candidate, fingerprints, car_fw)
+  car_params = CarInterface.get_params(candidate, fingerprints, has_relay, car_fw)
   car_params.carVin = vin
   car_params.carFw = car_fw
   car_params.fingerprintSource = source

selfdrive/car/chrysler/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.chrysler.values import CAR
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car.chrysler.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -11,11 +11,11 @@ def compute_gb(accel, speed):
     return float(accel) / 3.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=None, car_fw=None):
+  def get_params(candidate, fingerprint=None, has_relay=False, car_fw=None):
     if fingerprint is None:
       fingerprint = gen_empty_fingerprint()
 
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "chrysler"
     ret.safetyModel = car.CarParams.SafetyModel.chrysler
 
@@ -52,7 +52,8 @@ def get_params(candidate, fingerprint=None, car_fw=None):
     # mass and CG position, so all cars will have approximately similar dyn behaviors
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
 
-    ret.enableCamera = True
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
+    print("ECU Camera Simulated: {0}".format(ret.enableCamera))
 
     return ret
 

selfdrive/car/chrysler/values.py

@@ -91,3 +91,7 @@ class CAR:
 }
 
 STEER_THRESHOLD = 120
+
+ECU_FINGERPRINT = {
+  Ecu.fwdCamera: [0x292],  # lkas cmd
+}

selfdrive/car/ford/interface.py

@@ -2,8 +2,8 @@
 from cereal import car
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
-from selfdrive.car.ford.values import MAX_ANGLE
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car.ford.values import MAX_ANGLE, Ecu, ECU_FINGERPRINT, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -14,8 +14,8 @@ def compute_gb(accel, speed):
     return float(accel) / 3.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "ford"
     ret.safetyModel = car.CarParams.SafetyModel.ford
     ret.dashcamOnly = True
@@ -43,7 +43,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
 
     ret.steerControlType = car.CarParams.SteerControlType.angle
 
-    ret.enableCamera = True
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
     cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
 
     return ret

selfdrive/car/ford/values.py

@@ -15,6 +15,10 @@ class CAR:
   }],
 }
 
+ECU_FINGERPRINT = {
+  Ecu.fwdCamera: [970, 973, 984]
+}
+
 DBC = {
   CAR.FUSION: dbc_dict('ford_fusion_2018_pt', 'ford_fusion_2018_adas'),
 }

selfdrive/car/gm/interface.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
-from selfdrive.car.gm.values import CAR, CruiseButtons, \
-                                    AccState
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car.gm.values import CAR, Ecu, ECU_FINGERPRINT, CruiseButtons, \
+                                    AccState, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -16,8 +16,8 @@ def compute_gb(accel, speed):
     return float(accel) / 4.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "gm"
     ret.safetyModel = car.CarParams.SafetyModel.gm
     ret.enableCruise = False  # stock cruise control is kept off
@@ -29,7 +29,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     # Presence of a camera on the object bus is ok.
     # Have to go to read_only if ASCM is online (ACC-enabled cars),
     # or camera is on powertrain bus (LKA cars without ACC).
-    ret.enableCamera = True
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
     ret.openpilotLongitudinalControl = ret.enableCamera
     tire_stiffness_factor = 0.444  # not optimized yet
 

selfdrive/car/gm/values.py

@@ -97,6 +97,10 @@ class CanBus:
 
 STEER_THRESHOLD = 1.0
 
+ECU_FINGERPRINT = {
+  Ecu.fwdCamera: [384, 715]  # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
+}
+
 DBC = {
   CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
   CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),

selfdrive/car/honda/carcontroller.py

@@ -136,22 +136,22 @@ def update(self, 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, CS.CP.openpilotLongitudinalControl))
+      lkas_active, CS.CP.carFingerprint, idx, CS.CP.isPandaBlackDEPRECATED, CS.CP.openpilotLongitudinalControl))
 
     # 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, CS.is_metric, idx, CS.CP.openpilotLongitudinalControl, CS.stock_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, CS.is_metric, idx, CS.CP.isPandaBlackDEPRECATED, CS.CP.openpilotLongitudinalControl, CS.stock_hud))
 
     if not CS.CP.openpilotLongitudinalControl:
       if (frame % 2) == 0:
         idx = frame // 2
-        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, CS.CP.carFingerprint, idx))
+        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, CS.CP.carFingerprint, idx, CS.CP.isPandaBlackDEPRECATED))
       # 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, CS.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlackDEPRECATED))
       elif CS.out.cruiseState.standstill:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlackDEPRECATED))
 
     else:
       # Send gas and brake commands.
@@ -165,7 +165,7 @@ def update(self, enabled, CS, frame, actuators,
           apply_brake = int(clip(self.brake_last * P.BRAKE_MAX, 0, P.BRAKE_MAX - 1))
           pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
           can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
-            pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.stock_brake))
+            pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlackDEPRECATED, CS.stock_brake))
           self.apply_brake_last = apply_brake
 
           if CS.CP.enableGasInterceptor:

selfdrive/car/honda/carstate.py

@@ -336,7 +336,7 @@ def update(self, cp, cp_cam, cp_body):
   @staticmethod
   def get_can_parser(CP):
     signals, checks = get_can_signals(CP)
-    bus_pt = 1 if CP.carFingerprint in HONDA_BOSCH else 0
+    bus_pt = 1 if CP.isPandaBlackDEPRECATED and CP.carFingerprint in HONDA_BOSCH else 0
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_pt)
 
   @staticmethod
@@ -361,7 +361,8 @@ def get_cam_can_parser(CP):
     if CP.carFingerprint in [CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
       checks = [(0x194, 100)]
 
-    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
+    bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH and not CP.isPandaBlackDEPRECATED else 2
+    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_cam)
 
   @staticmethod
   def get_body_can_parser(CP):

selfdrive/car/honda/hondacan.py

@@ -7,19 +7,24 @@
 # 2 = ACC-CAN - camera side
 # 3 = F-CAN A - OBDII port
 
-def get_pt_bus(car_fingerprint):
-  return 1 if car_fingerprint in HONDA_BOSCH else 0
+# CAN bus layout with giraffe
+# 0 = F-CAN B - powertrain
+# 1 = ACC-CAN - camera side
+# 2 = ACC-CAN - radar side
 
+def get_pt_bus(car_fingerprint, has_relay):
+  return 1 if car_fingerprint in HONDA_BOSCH and has_relay else 0
 
-def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
+
+def get_lkas_cmd_bus(car_fingerprint, has_relay, radar_disabled=False):
   if radar_disabled:
     # when radar is disabled, steering commands are sent directly to powertrain bus
-    return get_pt_bus(car_fingerprint)
+    return get_pt_bus(car_fingerprint, has_relay)
   # normally steering commands are sent to radar, which forwards them to powertrain bus
-  return 0
+  return 2 if car_fingerprint in HONDA_BOSCH and not has_relay else 0
 
 
-def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, stock_brake):
+def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, has_relay, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0
   brake_rq = apply_brake > 0
@@ -40,13 +45,13 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
     "AEB_REQ_2": 0,
     "AEB_STATUS": 0,
   }
-  bus = get_pt_bus(car_fingerprint)
+  bus = get_pt_bus(car_fingerprint, has_relay)
   return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
 
 
-def create_acc_commands(packer, enabled, accel, gas, idx, stopping, starting, car_fingerprint):
+def create_acc_commands(packer, enabled, accel, gas, idx, stopping, starting, car_fingerprint, has_relay):
   commands = []
-  bus = get_pt_bus(car_fingerprint)
+  bus = get_pt_bus(car_fingerprint, has_relay)
 
   control_on = 5 if enabled else 0
   # no gas = -30000
@@ -79,31 +84,31 @@ def create_acc_commands(packer, enabled, accel, gas, idx, stopping, starting, ca
 
   return commands
 
-def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, radar_disabled):
+def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, has_relay, radar_disabled):
   values = {
     "STEER_TORQUE": apply_steer if lkas_active else 0,
     "STEER_TORQUE_REQUEST": lkas_active,
   }
-  bus = get_lkas_cmd_bus(car_fingerprint, radar_disabled)
+  bus = get_lkas_cmd_bus(car_fingerprint, has_relay, radar_disabled)
   return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)
 
 
-def create_bosch_supplemental_1(packer, car_fingerprint, idx):
+def create_bosch_supplemental_1(packer, car_fingerprint, idx, has_relay):
   # non-active params
   values = {
     "SET_ME_X04": 0x04,
     "SET_ME_X80": 0x80,
     "SET_ME_X10": 0x10,
   }
-  bus = get_lkas_cmd_bus(car_fingerprint)
+  bus = get_lkas_cmd_bus(car_fingerprint, has_relay)
   return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
 
 
-def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx, openpilot_longitudinal_control, stock_hud):
+def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx, has_relay, openpilot_longitudinal_control, stock_hud):
   commands = []
-  bus_pt = get_pt_bus(car_fingerprint)
+  bus_pt = get_pt_bus(car_fingerprint, has_relay)
   radar_disabled = car_fingerprint in HONDA_BOSCH and openpilot_longitudinal_control
-  bus_lkas = get_lkas_cmd_bus(car_fingerprint, radar_disabled)
+  bus_lkas = get_lkas_cmd_bus(car_fingerprint, has_relay, radar_disabled)
 
   if openpilot_longitudinal_control:
     if car_fingerprint in HONDA_BOSCH:
@@ -153,10 +158,10 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
   return commands
 
 
-def spam_buttons_command(packer, button_val, idx, car_fingerprint):
+def spam_buttons_command(packer, button_val, idx, car_fingerprint, has_relay):
   values = {
     'CRUISE_BUTTONS': button_val,
     'CRUISE_SETTING': 0,
   }
-  bus = get_pt_bus(car_fingerprint)
+  bus = get_pt_bus(car_fingerprint, has_relay)
   return packer.make_can_msg("SCM_BUTTONS", bus, values, idx)