Honda Bosch: detect alternate brake signal (#31500)

* Do Accord

* add comment

* good test

* this catches the accord/accordh issue!

* as expected, only if both radar&camera have in common FW does the test fail

* cmt

* clean up

* better

* Use HondaFlags

* detect alt brake

* for test

* hypothesis isn't installed

* test failure

* works

* Revert " works"

This reverts commit bfc0d808abe548630e6507431f13b01e8a1316cb.

* Revert "test failure"

This reverts commit 10ab6eb63ccd411740751b742f31fd610397fe8e.

* Revert "hypothesis isn't installed"

This reverts commit d474cc3f0ed7e84fe8bd24f452b3315fd2b8d47c.

* Revert "for test"

This reverts commit 98e039f4fc0189ccb57c1dae6b344209ef15eb1c.

* this is important too

* clean up

* more clean up

* Update ref_commit
old-commit-hash: 2e8c62358ce8ab103d0c9ee29501f78d79d7f4cc

selfdrive/car/car_helpers.py

@@ -162,7 +162,7 @@ def fingerprint(logcan, sendcan, num_pandas):
   cloudlog.warning("VIN %s", vin)
   params.put("CarVin", vin)
 
-  # disable OBD multiplexing for potential ECU knockouts
+  # disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts
   set_obd_multiplexing(params, False)
   params.put_bool("FirmwareQueryDone", True)
 

selfdrive/car/honda/carstate.py

@@ -7,8 +7,8 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus
 from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
-                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, \
-                                                 HONDA_BOSCH_RADARLESS
+                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
+                                                 HondaFlags
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
 TransmissionType = car.CarParams.TransmissionType
@@ -44,7 +44,7 @@ def get_can_messages(CP, gearbox_msg):
   else:
     messages.append((gearbox_msg, 100))
 
-  if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+  if CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
     messages.append(("BRAKE_MODULE", 50))
 
   if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
@@ -217,7 +217,7 @@ class CarState(CarStateBase):
     else:
       ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
 
-    if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+    if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
       ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     else:
       # brake switch has shown some single time step noise, so only considered when

selfdrive/car/honda/interface.py

@@ -3,8 +3,9 @@ from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
+from openpilot.selfdrive.car.honda.hondacan import get_pt_bus
 from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
-                                                                                            HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
+                                                 HONDA_BOSCH_RADARLESS
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
@@ -275,7 +276,8 @@ class CarInterface(CarInterfaceBase):
       raise ValueError(f"unsupported car {candidate}")
 
     # These cars use alternate user brake msg (0x1BE)
-    if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+    if 0x1BE in fingerprint[get_pt_bus(candidate)] and candidate in HONDA_BOSCH:
+      ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
 
     # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)

selfdrive/car/honda/values.py

@@ -49,6 +49,7 @@ class CarControllerParams:
 class HondaFlags(IntFlag):
   # Bosch models with alternate set of LKAS_HUD messages
   BOSCH_EXT_HUD = 1
+  BOSCH_ALT_BRAKE = 2
 
 
 # Car button codes
@@ -252,5 +253,4 @@ HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_E
                                 CAR.PILOT, CAR.RIDGELINE}
 HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
                CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
-HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G}
 HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-7d25b1f7d0bd3b506fa4e72ff893728894eb1a45
+1b16593e2d0c9ff2dae2916293ae5fbc7d6f26df