@perpetuoviator devUI by @theantihero (commaai#183)

* Fix @perpetuoviator dev UI by @theantihero

* Update Makefile

* @theantihero 's fix acc hud for kmh or mph on cruise control hud. fix for ui temporary

cereal/car.capnp

@@ -72,12 +72,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     calibrationProgress @47;
     lowBattery @48;
     invalidGiraffeHonda @49;
-    manualSteeringRequired @50;
-    manualSteeringRequiredBlinkersOn @51;
-    vehicleModelInvalid @52;
-    controlsFailed @53;
-    sensorDataInvalid @54;
-    commIssue @55;
+    vehicleModelInvalid @50;
+    controlsFailed @51;
+    sensorDataInvalid @52;
+    commIssue @53;
+    manualSteeringRequired @54;
+    manualSteeringRequiredBlinkersOn @55;
   }
 }
 
@@ -122,13 +122,13 @@ struct CarState {
   leftBlinker @20 :Bool;
   rightBlinker @21 :Bool;
   genericToggle @23 :Bool;
-  readdistancelines @26 :Float32;
-  lkMode @27 :Bool;
+  readdistancelines @27 :Float32;
+  lkMode @28 :Bool;
 
   # lock info
   doorOpen @24 :Bool;
   seatbeltUnlatched @25 :Bool;
-  canValid @28 :Bool;
+  canValid @26 :Bool;
 
   # which packets this state came from
   canMonoTimes @12: List(UInt64);
@@ -348,6 +348,8 @@ struct CarParams {
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
     kf @4 :Float32;
+    dampTime @5 :Float32;
+    reactMPC @6 :Float32;
   }
 
   struct LongitudinalPIDTuning {
@@ -365,6 +367,7 @@ struct CarParams {
     innerLoopGain @1 :Float32;
     timeConstant @2 :Float32;
     actuatorEffectiveness @3 :Float32;
+    reactMPC @4 :Float32;
   }
 
 

cereal/log.capnp

@@ -403,6 +403,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   jerkFactor @12 :Float32;
   angleSteers @13 :Float32;     # Steering angle in degrees.
   angleSteersDes @29 :Float32;
+  dampAngleSteersDes @54 :Float32;
   curvature @37 :Float32;       # path curvature from vehicle model
   hudLeadDEPRECATED @14 :Int32;
   cumLagMs @15 :Float32;
@@ -662,6 +663,9 @@ struct PathPlan {
   angleOffset @11 :Float32;
   sensorValid @14 :Bool;
   commIssue @15 :Bool;
+  mpcAngles @16 :List(Float32);
+  mpcRates @17 :List(Float32);
+  mpcTimes @18 :List(Float32);
 }
 
 struct LiveLocationData {
@@ -1695,6 +1699,11 @@ struct KalmanOdometry {
   rotStd @3 :List(Float32); # std rad/s in device frame
 }
 
+struct DynamicFollowData {
+  gas @0 :Float32;
+  brake @1 :Float32;
+}
+
 struct Event {
   # in nanoseconds?
   logMonoTime @0 :UInt64;

opendbc/honda_insight_ex_2019_can_generated.dbc

@@ -200,7 +200,7 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ IMPERIAL_UNIT : 55|2@0+ (1,0) [0|3] "" XXX
  SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

selfdrive/car/honda/carstate.py

@@ -96,7 +96,8 @@ def get_can_signals(CP):
     signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
                 ("MAIN_ON", "SCM_FEEDBACK", 0),
                 ("EPB_STATE", "EPB_STATUS", 0),
-                ("CRUISE_SPEED", "ACC_HUD", 0)]
+                ("CRUISE_SPEED", "ACC_HUD", 0),
+                ("IMPERIAL_UNIT", "ACC_HUD", 0)]
     checks += [("GAS_PEDAL_2", 100)]
   else:
     # Nidec signals.
@@ -382,6 +383,7 @@ def update(self, cp, cp_cam):
 
     # TODO: discover the CAN msg that has the imperial unit bit for all other cars
     self.is_metric = not cp.vl["HUD_SETTING"]['IMPERIAL_UNIT'] if self.CP.carFingerprint in (CAR.CIVIC) else False
+    self.is_metric = 3
 
 # carstate standalone tester
 if __name__ == '__main__':

selfdrive/car/honda/hondacan.py

@@ -65,11 +65,10 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx):
       'CRUISE_SPEED': hud.v_cruise,
       'ENABLE_MINI_CAR': hud.mini_car,
       'HUD_LEAD': hud.car,
-      'SET_ME_X01': 0x01,
-      'HUD_DISTANCE_3': 1,
-      'HUD_DISTANCE': hud.dist_lines,    # max distance setting on display
+      'HUD_DISTANCE': 3,    # max distance setting on display
       'IMPERIAL_UNIT': int(not is_metric),
       'SET_ME_X01_2': 1,
+      'SET_ME_X01': 1,      
     }
     commands.append(packer.make_can_msg("ACC_HUD", 0, acc_hud_values, idx))
 

selfdrive/ui/Makefile

@@ -16,7 +16,7 @@ CXXFLAGS = -std=c++11 -fPIC -O2 $(WARN_FLAGS)
 ZMQ_LIBS = -l:libczmq.a -l:libzmq.a -lgnustl_shared
 
 CEREAL_LIBS = -l:libcapn.a
-CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
+CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o ../../cereal/gen/c/car.capnp.o
 
 NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
 JSON_FLAGS = -I$(PHONELIBS)/json/src