HKG: Interface refactor (#1292)
* refactor experimentalLongiudinalAvailable * refactor enableBsm * refactor Panda safety config * section headers * radarUnavailable to common long section * dashcam cars to car specific section
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Jason Young
GitHub
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@ -17,19 +17,15 @@ class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
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ret.carName = "hyundai"
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ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
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# These cars have been put into dashcam only due to both a lack of users and test coverage.
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# These cars likely still work fine. Once a user confirms each car works and a test route is
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# added to opendbc/car/tests/routes.py, we can remove it from this list.
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# FIXME: the Optima Hybrid 2017 uses a different SCC12 checksum
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ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
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hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
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CAN = CanBus(None, hda2, fingerprint)
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if candidate in CANFD_CAR:
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# detect if car is hybrid
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# Shared configuration for CAN-FD cars
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ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
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ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
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if 0x105 in fingerprint[CAN.ECAN]:
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ret.flags |= HyundaiFlags.HYBRID.value
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@ -50,44 +46,7 @@ class CarInterface(CarInterfaceBase):
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ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
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if candidate not in CANFD_RADAR_SCC_CAR:
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ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
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else:
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# Send LFA message on cars with HDA
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if 0x485 in fingerprint[2]:
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ret.flags |= HyundaiFlags.SEND_LFA.value
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# These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
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if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]:
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ret.flags |= HyundaiFlags.USE_FCA.value
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ret.steerActuatorDelay = 0.1 # Default delay
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ret.steerLimitTimer = 0.4
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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if candidate == CAR.KIA_OPTIMA_G4_FL:
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ret.steerActuatorDelay = 0.2
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# *** longitudinal control ***
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if candidate in CANFD_CAR:
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ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
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else:
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ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
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ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
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ret.pcmCruise = not ret.openpilotLongitudinalControl
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ret.stoppingControl = True
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ret.startingState = True
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ret.vEgoStarting = 0.1
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ret.startAccel = 1.0
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ret.longitudinalActuatorDelay = 0.5
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# *** feature detection ***
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if candidate in CANFD_CAR:
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ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
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else:
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ret.enableBsm = 0x58b in fingerprint[0]
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# *** panda safety config ***
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if candidate in CANFD_CAR:
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cfgs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiCanfd), ]
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if CAN.ECAN >= 4:
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cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
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@ -101,7 +60,20 @@ class CarInterface(CarInterfaceBase):
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
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if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
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else:
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# Shared configuration for non CAN-FD cars
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ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
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ret.enableBsm = 0x58b in fingerprint[0]
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# Send LFA message on cars with HDA
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if 0x485 in fingerprint[2]:
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ret.flags |= HyundaiFlags.SEND_LFA.value
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# These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
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if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]:
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ret.flags |= HyundaiFlags.USE_FCA.value
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if candidate in LEGACY_SAFETY_MODE_CAR:
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# these cars require a special panda safety mode due to missing counters and checksums in the messages
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiLegacy)]
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@ -111,6 +83,24 @@ class CarInterface(CarInterfaceBase):
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if candidate in CAMERA_SCC_CAR:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
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# Common lateral control setup
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ret.centerToFront = ret.wheelbase * 0.4
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ret.steerActuatorDelay = 0.1
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ret.steerLimitTimer = 0.4
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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# Common longitudinal control setup
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ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
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ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
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ret.pcmCruise = not ret.openpilotLongitudinalControl
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ret.stoppingControl = True
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ret.startingState = True
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ret.vEgoStarting = 0.1
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ret.startAccel = 1.0
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ret.longitudinalActuatorDelay = 0.5
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if ret.openpilotLongitudinalControl:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
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if ret.flags & HyundaiFlags.HYBRID:
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@ -118,11 +108,18 @@ class CarInterface(CarInterfaceBase):
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elif ret.flags & HyundaiFlags.EV:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
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# Car specific configuration overrides
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if candidate == CAR.KIA_OPTIMA_G4_FL:
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ret.steerActuatorDelay = 0.2
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if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022):
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ret.flags |= HyundaiFlags.ALT_LIMITS.value
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
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ret.centerToFront = ret.wheelbase * 0.4
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# Dashcam cars are missing a test route, or otherwise need validation
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# TODO: Optima Hybrid 2017 uses a different SCC12 checksum
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ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
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return ret
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