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

opendbc/car/hyundai/interface.py

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