Honda Radarless: Create&send buttons to camera when engaged.

selfdrive/car/honda/carcontroller.py

@@ -5,7 +5,8 @@
 from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car.honda import hondacan
-from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
+from openpilot.selfdrive.car.honda.values import CruiseButtons, CruiseSettings, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, \
+                                                 CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit
 
@@ -203,11 +204,28 @@ def update(self, CC, CS, now_nanos):
     if not self.CP.openpilotLongitudinalControl:
       if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:  # radarless cars don't have supplemental message
         can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN, self.CP.carFingerprint))
-      # If using stock ACC, spam cancel command to kill gas when OP disengages.
+      # Buttons: spam the cancel or resume buttons.
+      cruise = None
+      setting = CruiseSettings.NONE
       if pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))
-      elif CC.cruiseControl.resume:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
+        cruise = CruiseButtons.CANCEL
+      elif self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS and CC.cruiseControl.resume:
+        cruise = CruiseButtons.RES_ACCEL
+      elif self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and CC.enabled and self.frame % 4 == 0:
+        # Send buttons to the camera when engaged. Only send the LKAS button to turn off stock LKAS off so it can't disengage cruise.
+        # Priority: pcm_cancel > user > auto resume > turn off lkas > none/idle
+        cruise = CruiseButtons.NONE
+        if CS.cruise_buttons or (CS.cruise_setting and CS.cruise_setting != CruiseSettings.LKAS):
+          cruise = CS.cruise_buttons
+          setting = CS.cruise_setting
+        # simulate a momentary press
+        elif self.frame % 100 <= 25:
+          if CC.cruiseControl.resume:
+            cruise = CruiseButtons.RES_ACCEL
+          elif CS.lkas_hud['ENABLED']:
+            setting = CruiseSettings.LKAS
+      if cruise is not None:
+        can_sends.append(hondacan.create_buttons_command(self.packer, self.CAN, cruise, setting, CS.scm_buttons, self.CP.carFingerprint))
 
     else:
       # Send gas and brake commands.

selfdrive/car/honda/carstate.py

@@ -200,6 +200,7 @@ def update(self, cp, cp_cam, cp_body):
         ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
 
       if not self.CP.openpilotLongitudinalControl:
+        self.scm_buttons = cp.vl["SCM_BUTTONS"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else {}
         # ACC_HUD is on camera bus on radarless cars
         acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
         ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0

selfdrive/car/honda/hondacan.py

@@ -167,7 +167,8 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
     commands.append(packer.make_can_msg("ACC_HUD", CAN.pt, acc_hud_values))
 
   lkas_hud_values = {
-    'SET_ME_X41': 0x41,
+    'ENABLED': 1,
+    'SET_ME_X20': 0x20,
     'STEERING_REQUIRED': hud.steer_required,
     'SOLID_LANES': hud.lanes_visible,
     'BEEP': 0,
@@ -201,11 +202,17 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
   return commands
 
 
-def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
+def create_buttons_command(packer, CAN, button_val, setting_val, stock_scm_buttons, car_fingerprint):
   values = {
-    'CRUISE_BUTTONS': button_val,
-    'CRUISE_SETTING': 0,
+    'CRUISE_BUTTONS': button_val
   }
+  # Radarless: set CRUISE_SETTING & forward unmodified data bits
+  if len(stock_scm_buttons):
+    values.update({
+      'CRUISE_SETTING': setting_val,
+      'BOH_1': stock_scm_buttons['BOH_1'],
+      'BOH_2': stock_scm_buttons['BOH_2'],
+    })
   # send buttons to camera on radarless cars
   bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
   return packer.make_can_msg("SCM_BUTTONS", bus, values)

selfdrive/car/honda/values.py

@@ -66,11 +66,13 @@ class CruiseButtons:
   DECEL_SET = 3
   CANCEL = 2
   MAIN = 1
+  NONE = 0
 
 
 class CruiseSettings:
   DISTANCE = 3
   LKAS = 1
+  NONE = 0
 
 
 # See dbc files for info on values

selfdrive/car/tests/routes.py

@@ -97,7 +97,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX),
   CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.HONDA_RIDGELINE),
   CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
-  CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022),
+  CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022), # TODO: Replace with route where OP sends buttons to the cam when engaged
 
   CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
   CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),