Honda fwd fixes (#5)

- fix chime forwarding
- forward radar hud msg from stock
- no EON chime during stock fcw

selfdrive/car/honda/hondacan.py

@@ -1,5 +1,5 @@
 from selfdrive.config import Conversions as CV
-from selfdrive.car.honda.values import CAR, HONDA_BOSCH
+from selfdrive.car.honda.values import HONDA_BOSCH
 
 
 def get_pt_bus(car_fingerprint, has_relay):
@@ -25,7 +25,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
     "COMPUTER_BRAKE_REQUEST": brake_rq,
     "SET_ME_1": 1,
     "BRAKE_LIGHTS": brakelights,
-    "CHIME": stock_brake["CHIME"],  # chime issued when disabling FCM
+    "CHIME": stock_brake["CHIME"] if fcw else 0,  # send the chime for stock fcw
     "FCW": fcw << 1,  # TODO: Why are there two bits for fcw?
     "AEB_REQ_1": 0,
     "AEB_REQ_2": 0,
@@ -76,14 +76,6 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
   }
   commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
 
-  if car_fingerprint in (CAR.CIVIC, CAR.ODYSSEY):
-    radar_hud_values = {
-      'ACC_ALERTS': hud.acc_alert,
-      'LEAD_SPEED': 0x1fe,  # What are these magic values
-      'LEAD_STATE': 0x7,
-      'LEAD_DISTANCE': 0x1e,
-    }
-    commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values, idx))
   return commands
 
 

selfdrive/controls/controlsd.py

@@ -257,10 +257,14 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
   # add eventual driver distracted events
   events = driver_status.update(events, driver_engaged, isActive(state), CS.standstill)
 
-  # send FCW alert if triggered by planner
-  if plan.fcw or CS.stockFcw:
+  if plan.fcw:
+    # send FCW alert if triggered by planner
     AM.add(frame, "fcw", enabled)
 
+  elif CS.stockFcw:
+    # send a silent alert when stock fcw triggers, since the car is already beeping
+    AM.add(frame, "fcwStock", enabled)
+
   # State specific actions
 
   if state in [State.preEnabled, State.disabled]:

selfdrive/controls/lib/alerts.py

@@ -80,6 +80,13 @@ ALERTS = [
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeat, 1., 2., 2.),
 
+  Alert(
+      "fcwStock",
+      "BRAKE!",
+      "Risk of Collision",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),  # no EON chime for stock FCW
+
   Alert(
       "steerSaturated",
       "TAKE CONTROL",

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-b2364d6239bca0a8caaf11f0433bf766c66e15a4
+89304bdcab73fa43a8dd39cab93bc4ea4c9cbbdb