Development on CR-V

selfdrive/boardd/boardd.py

@@ -2,6 +2,7 @@
 import os
 import struct
 import zmq
+import logging
 
 import selfdrive.messaging as messaging
 from common.realtime import Ratekeeper
@@ -22,10 +23,9 @@ def can_list_to_can_capnp(can_msgs, msgtype='can'):
   dat = messaging.new_message()
   dat.init(msgtype, len(can_msgs))
   for i, can_msg in enumerate(can_msgs):
+
     if msgtype == 'sendcan':
       cc = dat.sendcan[i]
-    else:
-      cc = dat.can[i]
     cc.address = can_msg[0]
     cc.busTime = can_msg[1]
     cc.dat = can_msg[2]

selfdrive/car/fingerprints.py

@@ -5,8 +5,84 @@
     0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 4,
   },
   "HONDA CIVIC 2016 TOURING": {
-    1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
+    57L: 3,
+    148L: 8,
+    199L: 4,
+    231L: 5,
+    304L: 8,
+    330L: 8,
+    344L: 8,
+    380L: 8,
+    401L: 8,
+    420L: 8,
+    423L: 2,
+    427L: 3,
+    428L: 8,
+    432L: 7,
+    441L: 5,
+    446L: 3,
+    450L: 8,
+    464L: 8,
+    467L: 2,
+    469L: 3,
+    470L: 2,
+    474L: 8,
+    476L: 7,
+    477L: 8,
+    479L: 8,
+    490L: 8,
+    493L: 5,
+    495L: 8,
+    507L: 1,
+    545L: 6,
+    597L: 8,
+    661L: 4,
+    662L: 4,
+    773L: 7,
+    777L: 8,
+    795L: 8,
+    800L: 8,
+    804L: 8,
+    806L: 8,
+    808L: 8,
+    814L: 4,
+    815L: 8,
+    817L: 4,
+    825L: 4,
+    881L: 8,
+    882L: 4,
+    884L: 8,
+    888L: 8,
+    891L: 8,
+    918L: 7,
+    929L: 8,
+    983L: 8,
+    985L: 3,
+    1024L: 5,
+    1027L: 5,
+    1029L: 8,
+    1036L: 8,
+    1039L: 8,
+    1064L: 7,
+    1108L: 8,
+    1092L: 1,
+    1115L: 4,
+    1125L: 8,
+    1127L: 2,
+    1296L: 8,
+    1302L: 8,
+    1322L: 5,
+    1361L: 5,
+    1365L: 5,
+    1424L: 5,
+    1618L: 5,
+    1633L: 8,
+    1670L: 8,
     # sent messages
-    0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
+    0xe4: 5,
+    0x30c: 8,
+    0x33d: 5,
+    0x35e: 8,
+    0x39f: 8,
   }
 }

selfdrive/car/honda/carcontroller.py

@@ -186,5 +186,4 @@ def update(self, sendcan, enabled, CS, frame, final_gas, final_brake, final_stee
       idx = (frame/radar_send_step) % 4
       can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, idx))
 
-    sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
 

selfdrive/car/honda/carstate.py

@@ -156,7 +156,8 @@ def fingerprint(logcan):
       break
     elif len(possible_cars) == 0:
       print finger
-      raise Exception("car doesn't match any fingerprints")
+
+      raise Exception("car doesn't match any fingerprints " + str(adr) + ' ' + str(f))
 
   print "fingerprinted", possible_cars[0]
   return brake_only, possible_cars[0]

selfdrive/car/honda/hondacan.py

@@ -27,62 +27,26 @@ def make_can_msg(addr, dat, idx, alt):
 
 def create_brake_command(apply_brake, pcm_override, pcm_cancel_cmd, chime, idx):
   """Creates a CAN message for the Honda DBC BRAKE_COMMAND."""
-  pump_on = apply_brake > 0
-  brakelights = apply_brake > 0
-  brake_rq = apply_brake > 0
-
-  pcm_fault_cmd = False
-  amount = struct.pack("!H", (apply_brake << 6) + pump_on)
-  msg = amount + struct.pack("BBB", (pcm_override << 4) |
-                             (pcm_fault_cmd << 2) |
-                             (pcm_cancel_cmd << 1) | brake_rq, 0x80,
-                             brakelights << 7) + chr(chime) + "\x00"
-  return make_can_msg(0x1fa, msg, idx, 0)
+  return []
 
 def create_gas_command(gas_amount, idx):
   """Creates a CAN message for the Honda DBC GAS_COMMAND."""
-  msg = struct.pack("!H", gas_amount)
-  return make_can_msg(0x200, msg, idx, 0)
+  return []
 
 def create_steering_control(apply_steer, idx):
   """Creates a CAN message for the Honda DBC STEERING_CONTROL."""
-  msg = struct.pack("!h", apply_steer) + ("\x80\x00" if apply_steer != 0 else "\x00\x00")
-  return make_can_msg(0xe4, msg, idx, 0)
+#   msg = struct.pack("!h", apply_steer) + ("\x80\x00" if apply_steer != 0 else "\x00\x00")
+#   return make_can_msg(0xe4, msg, idx, 0)
 
 def create_ui_commands(pcm_speed, hud, civic, idx):
   """Creates an iterable of CAN messages for the UIs."""
   commands = []
-  pcm_speed_real = np.clip(int(round(pcm_speed / 0.002763889)), 0,
-                           64000)  # conversion factor from dbc file
-  msg_0x30c = struct.pack("!HBBBBB", pcm_speed_real, hud.pcm_accel,
-                          hud.v_cruise, hud.X2, hud.car, hud.X4)
-  commands.append(make_can_msg(0x30c, msg_0x30c, idx, 0))
-
-  msg_0x33d = chr(hud.X5) + chr(hud.lanes) + chr(hud.beep) + chr(hud.X8)
-  commands.append(make_can_msg(0x33d, msg_0x33d, idx, 0))
-  if civic:  # 2 more msgs
-    msg_0x35e = chr(0) * 7
-    commands.append(make_can_msg(0x35e, msg_0x35e, idx, 0))
-    msg_0x39f = (
-      chr(0) * 2 + chr(hud.acc_alert) + chr(0) + chr(0xff) + chr(0x7f) + chr(0)
-    )
-    commands.append(make_can_msg(0x39f, msg_0x39f, idx, 0))
+#   if civic:  # 2 more msgs
+#     msg_0x35e = chr(0) * 7
+#     commands.append(make_can_msg(0x35e, msg_0x35e, idx, 0))
   return commands
 
 def create_radar_commands(v_ego, civic, idx):
   """Creates an iterable of CAN messages for the radar system."""
   commands = []
-  v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
-  speed = struct.pack('!B', v_ego_kph)
-  msg_0x300 = ("\xf9" + speed + "\x8a\xd0" +\
-              ("\x20" if idx == 0 or idx == 3 else "\x00") +\
-                "\x00\x00")
-  if civic:
-    msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
-    # add 8 on idx.
-    commands.append(make_can_msg(0x300, msg_0x300, idx + 8, 1))
-  else:
-    msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
-    commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
-  commands.append(make_can_msg(0x301, msg_0x301, idx, 1))
   return commands

selfdrive/controls/controlsd.py

@@ -118,15 +118,15 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
       # reset awareness on any user action
       awareness_status = 1.0
 
-      # button presses for rear view
-      if b.type == "leftBlinker" or b.type == "rightBlinker":
-        if b.pressed:
-          rear_view_toggle = True
-        else:
-          rear_view_toggle = False
-
-      if b.type == "altButton1" and b.pressed:
-        rear_view_toggle = not rear_view_toggle
+    # button presses for rear view
+    #   if b.type == "leftBlinker" or b.type == "rightBlinker":
+    #     if b.pressed:
+    #       rear_view_toggle = True
+    #     else:
+    #       rear_view_toggle = False
+
+    #   if b.type == "altButton1" and b.pressed:
+    #     rear_view_toggle = not rear_view_toggle
 
       if not VP.brake_only and enabled and not b.pressed:
         if b.type == "accelCruise":

selfdrive/manager.py

@@ -27,7 +27,7 @@
 managed_processes = {
   "uploader": "selfdrive.loggerd.uploader",
   "controlsd": "selfdrive.controls.controlsd",
-  "radard": "selfdrive.controls.radard",
+  # "radard": "selfdrive.controls.radard",
   "calibrationd": "selfdrive.calibrationd.calibrationd",
   "loggerd": "selfdrive.loggerd.loggerd",
   "logmessaged": "selfdrive.logmessaged",