Merge pull request #50 from FLYINORION123/honda-speedlimit-dev

Honda Dashboard Speed Limit Controller (SLC) Support

opendbc_repo/opendbc/car/honda/carstate.py

@@ -8,7 +8,7 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.honda.hondacan import CanBus
 from opendbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_BOSCH_ALT_RADAR, HONDA_BOSCH_CANFD, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
-                                                 HondaFlags, CruiseButtons, CruiseSettings, GearShifter, CarControllerParams
+                                                 HondaFlags, CruiseButtons, CruiseSettings, GearShifter, CarControllerParams, HondaStarPilotFlags
 from opendbc.car.interfaces import CarStateBase
 
 TransmissionType = structs.CarParams.TransmissionType
@@ -19,6 +19,18 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
 SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.lkas}
 
 
+# Dashboard Speed Limit / Traffic Sign Recognition (TSR) for Speed Limit Controller (SLC)
+def calculate_speed_limit(CP, FPCP, cp, cp_cam):
+  if not (FPCP.flags & HondaStarPilotFlags.HAS_CAMERA_MESSAGES):
+    return 0.0
+  speed_bus = cp if (CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_BOSCH_CANFD)) else cp_cam
+  try:
+    speed_limit_raw = speed_bus.vl["CAMERA_MESSAGES"]["SPEED_LIMIT_SIGN"] % 32
+    return speed_limit_raw * 5.0 * CV.MPH_TO_MS if 1 <= speed_limit_raw <= 17 else 0.0
+  except (KeyError, ValueError):
+    return 0.0
+
+
 class CarState(CarStateBase):
   def __init__(self, CP, FPCP):
     super().__init__(CP, FPCP)
@@ -222,6 +234,8 @@ class CarState(CarStateBase):
 
     fp_ret = custom.StarPilotCarState.new_message()
 
+    fp_ret.dashboardSpeedLimit = calculate_speed_limit(self.CP, self.FPCP, cp, cp_cam)
+
     return ret, fp_ret
 
   def get_can_parsers(self, CP):

opendbc_repo/opendbc/car/honda/values.py

@@ -94,6 +94,10 @@ class CruiseSettings:
   LKAS = 1
 
 
+class HondaStarPilotFlags(IntFlag):
+  HAS_CAMERA_MESSAGES = 8
+
+
 @dataclass
 class HondaCarDocs(CarDocs):
   package: str = "Honda Sensing"
@@ -360,6 +364,15 @@ HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
 HONDA_BOSCH_CANFD = CAR.with_flags(HondaFlags.BOSCH_CANFD)
 HONDA_BOSCH_ALT_RADAR = CAR.with_flags(HondaFlags.BOSCH_ALT_RADAR)
 HONDA_BOSCH_TJA_CONTROL = CAR.with_flags(HondaFlags.BOSCH_TJA_CONTROL)
+HONDA_CAMERA_MESSAGE_CARS = {
+  CAR.HONDA_ACCORD,
+  CAR.HONDA_CIVIC_BOSCH,
+  CAR.HONDA_CIVIC_2022,
+  CAR.HONDA_CRV_5G,
+  CAR.HONDA_CRV_HYBRID,
+  CAR.HONDA_HRV_3G,
+  CAR.HONDA_INSIGHT,
+}
 
 
 DBC = CAR.create_dbc_map()

opendbc_repo/opendbc/car/interfaces.py

@@ -18,7 +18,7 @@ from opendbc.car.common.basedir import BASEDIR
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.common.simple_kalman import KF1D, get_kalman_gain
 from opendbc.car.gm.values import CAR as GM
-from opendbc.car.honda.values import CAR as HONDA, HONDA_BOSCH, HondaSafetyFlags
+from opendbc.car.honda.values import CAR as HONDA, HONDA_BOSCH, HONDA_CAMERA_MESSAGE_CARS, HondaSafetyFlags, HondaStarPilotFlags
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import CAR as HYUNDAI, CANFD_CAR, HyundaiFlags, HyundaiStarPilotSafetyFlags
 from opendbc.car.mock.values import CAR as MOCK
@@ -205,6 +205,9 @@ class CarInterfaceBase(ABC):
 
       elif platform in HONDA:
         fp_ret.canUsePedal = candidate not in HONDA_BOSCH
+        # Only enable TSR parsing on Hondas confirmed to publish CAMERA_MESSAGES.
+        if candidate in HONDA_CAMERA_MESSAGE_CARS:
+          fp_ret.flags |= int(HondaStarPilotFlags.HAS_CAMERA_MESSAGES)
 
       elif platform in HYUNDAI:
         if candidate in CANFD_CAR:

starpilot/ui/qt/offroad/starpilot_settings.cc

@@ -362,7 +362,7 @@ void StarPilotSettingsWindow::updateVariables() {
     friction = CP.getLateralTuning().getTorque().getFriction();
     hasAlphaLongitudinal = CP.getAlphaLongitudinalAvailable();
     hasBSM = CP.getEnableBsm();
-    hasDashSpeedLimits = carMake == "ford" || carMake == "hyundai" || carMake == "toyota";
+    hasDashSpeedLimits = carMake == "ford" || carMake == "hyundai" || carMake == "toyota" || carMake == "honda";
     hasNNFFLog = nnffLogFileExists(QString::fromStdString(carFingerprint));
     hasOpenpilotLongitudinal = hasLongitudinalControl(CP);
     hasPCMCruise = CP.getPcmCruise();