IQ.Pilot Release Commit @ cb8d79a

common/params_keys.h

@@ -227,6 +227,32 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // iqpilot car specific params
     {"HyundaiLongitudinalTuning", {PERSISTENT, INT, "0"}},
+    {"AutoCruiseControl", {PERSISTENT, INT, "0"}},
+    {"AutoEngage", {PERSISTENT, INT, "0"}},
+    {"CanfdDebug", {PERSISTENT, INT, "0"}},
+    {"CanfdHDA2", {PERSISTENT, INT, "0"}},
+    {"CarrotCruiseAtcDecel", {PERSISTENT, INT, "-1"}},
+    {"CarrotCruiseDecel", {PERSISTENT, INT, "-1"}},
+    {"CruiseButtonTest1", {PERSISTENT, INT, "8"}},
+    {"CruiseButtonTest2", {PERSISTENT, INT, "30"}},
+    {"CruiseButtonTest3", {PERSISTENT, INT, "1"}},
+    {"CustomSteerDeltaDown", {PERSISTENT, INT, "0"}},
+    {"CustomSteerDeltaDownLC", {PERSISTENT, INT, "0"}},
+    {"CustomSteerDeltaUp", {PERSISTENT, INT, "0"}},
+    {"CustomSteerDeltaUpLC", {PERSISTENT, INT, "0"}},
+    {"CustomSteerMax", {PERSISTENT, INT, "0"}},
+    {"EnableCornerRadar", {PERSISTENT, INT, "0"}},
+    {"EnableRadarTracks", {PERSISTENT, INT, "0"}},
+    {"EnableRadarTracksResult", {PERSISTENT | CLEAR_ON_MANAGER_START, INT}},
+    {"FingerPrints", {PERSISTENT | CLEAR_ON_MANAGER_START, STRING}},
+    {"HDPuse", {PERSISTENT, INT, "0"}},
+    {"HapticFeedbackWhenSpeedCamera", {PERSISTENT, INT, "0"}},
+    {"HyundaiCameraSCC", {PERSISTENT, INT, "0"}},
+    {"IsLdwsCar", {PERSISTENT, INT, "0"}},
+    {"LaneLineCheck", {PERSISTENT, INT, "0"}},
+    {"LongitudinalPersonalityMax", {PERSISTENT, INT, "3"}},
+    {"MaxAngleFrames", {PERSISTENT, INT, "89"}},
+    {"SpeedFromPCM", {PERSISTENT, INT, "2"}},
     {"SubaruStopAndGo", {PERSISTENT, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT, BOOL, "0"}},
     {"TeslaCoopSteering", {PERSISTENT, BOOL, "0"}},

iqdbc_repo/iqdbc/car/hyundai/interface.py

@@ -1,8 +1,8 @@
 from iqdbc.car import Bus, get_safety_config, structs
 from iqdbc.car.hyundai.hyundaicanfd import CanBus
-from iqdbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_RADAR_SCC_CAR, \
+from iqdbc.car.hyundai.values import HyundaiFlags, HyundaiFlagsIQ, CAR, DBC, CANFD_RADAR_SCC_CAR, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
-                                                   UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, HyundaiExtFlags, \
+                                                   UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, HyundaiSafetyFlagsIQ, HyundaiExtFlags, \
                                                    CANFD_HYBRID_STATUS_ADDR, CANFD_HYBRID_STATUS_DLC, \
                                                    EV_MODE_STATUS_ADDR, EV_MODE_STATUS_DLC
 from iqdbc.car.hyundai.radar_interface import RADAR_START_ADDR
@@ -254,6 +254,14 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
+  @staticmethod
+  def _get_params_iq(stock_cp, ret, candidate, fingerprint, car_fw, alpha_long, is_release_iq, docs):
+    del candidate, car_fw, alpha_long, is_release_iq, docs
+    if not stock_cp.flags & HyundaiFlags.CANFD and 0x391 in fingerprint[0]:
+      ret.flags |= HyundaiFlagsIQ.HAS_LFA_BUTTON
+      ret.iqSafetyFlags |= HyundaiSafetyFlagsIQ.HAS_LDA_BUTTON
+    return ret
+
   @staticmethod
   def init(CP, can_recv, can_send):
 

iqdbc_repo/iqdbc/car/hyundai/tests/test_integration.py

@@ -2,7 +2,7 @@ import pytest
 
 from iqdbc.car import gen_empty_fingerprint, structs
 from iqdbc.car.hyundai.interface import CarInterface
-from iqdbc.car.hyundai.values import CAR
+from iqdbc.car.hyundai.values import CAR, HyundaiFlagsIQ, HyundaiSafetyFlagsIQ
 
 
 @pytest.mark.parametrize("candidate", list(CAR), ids=lambda candidate: candidate.value)
@@ -39,3 +39,15 @@ def test_parameter_defaults_do_not_require_persisted_fingerprint(monkeypatch, tm
 
   state, _ = interface.update([])
   assert state.vEgo == 0.0
+
+
+def test_classic_lfa_button_capability_survives_iq_module_removal(monkeypatch, tmp_path):
+  monkeypatch.setenv("PARAMS_ROOT", str(tmp_path))
+  fingerprint = gen_empty_fingerprint()
+  fingerprint[0][0x391] = 8
+
+  cp = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False)
+  cp_iq = CarInterface.get_params_iq(cp, CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False)
+
+  assert cp_iq.flags & HyundaiFlagsIQ.HAS_LFA_BUTTON
+  assert cp_iq.iqSafetyFlags & HyundaiSafetyFlagsIQ.HAS_LDA_BUTTON

iqdbc_repo/iqdbc/car/hyundai/values.py

@@ -26,7 +26,7 @@ class CarControllerParams:
     #([0, 9, 16, 25], [1.6, 1.0, 0.6, 0.15]),
     #([0, 9, 16, 25], [2.0, 1.2, 0.8, 0.28]),
   )
-    # Stock LFA system is seen sending 250 max, but for LKAS events it's 175 max.
+  # Stock LFA system is seen sending 250 max, but for LKAS events it's 175 max.
   # 250 can at least achieve 4 m/s^2, 80 corresponds to ~2.5 m/s^2
   ANGLE_MAX_TORQUE = 200  # The maximum amount of torque that will be allowed
   ANGLE_MIN_TORQUE = 25  # equivalent to ~0.8 m/s^2 of torque (based on ANGLE_MAX_TORQUE) when overriding
@@ -83,6 +83,28 @@ class HyundaiSafetyFlags(IntFlag):
   ALT_LIMITS_2 = 512
 
 
+class HyundaiSafetyFlagsIQ:
+  DEFAULT = 0
+  ESCC = 16
+  MAIN_BTN_LONG_TOGGLE = 32
+  HAS_LDA_BUTTON = 64
+  NON_SCC = 128
+
+
+class HyundaiFlagsIQ(IntFlag):
+  ENHANCED_SCC = 1
+  HAS_LFA_BUTTON = 2
+  MAIN_BTN_LONG_TOGGLE = 2 ** 2
+  ENABLE_RADAR_TRACKS_DEPRECATED = 2 ** 3
+  LONG_TUNING_DYNAMIC = 2 ** 4
+  LONG_TUNING_PREDICTIVE = 2 ** 5
+  NON_SCC = 2 ** 6
+  NON_SCC_RADAR_FCA = 2 ** 7
+  NON_SCC_NO_FCA = 2 ** 8
+  SPEED_LIMIT_AVAILABLE = 2 ** 9
+  HAS_LKAS12 = 2 ** 10
+
+
 class HyundaiFlags(IntFlag):
   # Dynamic Flags
   CANFD_HDA2 = 1
@@ -468,7 +490,6 @@ class CAR(Platforms):
     flags=HyundaiFlags.ANGLE_CONTROL,
   )
 
-
   # Kia
   KIA_FORTE = HyundaiPlatformConfig(
     [

iqpilot/sab/behavior.py

@@ -12,8 +12,7 @@ from iqdbc.car import structs
 from openpilot.common.realtime import DT_CTRL
 from iqdbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.selfdrived.events import ET
-from iqdbc.car.hyundai.values import HyundaiFlags
-from iqdbc.iqpilot.car.hyundai.values import HyundaiFlagsIQ, HyundaiSafetyFlagsIQ
+from iqdbc.car.hyundai.values import HyundaiFlags, HyundaiFlagsIQ, HyundaiSafetyFlagsIQ
 from openpilot.selfdrive.selfdrived.state import SOFT_DISABLE_TIME
 from cereal import log, custom
 
@@ -255,7 +254,7 @@ _BTN = structs.CarState.ButtonEvent.Type
 _GEAR = structs.CarState.GearShifter
 
 _CRUISE_SET_TAPS = frozenset((_BTN.accelCruise, _BTN.resumeCruise, _BTN.decelCruise, _BTN.setCruise))
-_HYUNDAI_LDA_MASK = HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD
+_HYUNDAI_LDA_MASK = HyundaiFlags.CANFD
 
 # While a lateral-only session rides through a pause, these stock blockers are
 # swapped for their silent IQ twins. Order here is not load-bearing (each row
@@ -295,7 +294,7 @@ class SteeringAssistanceBehavior:
   def _apply_brand_capabilities(self):
     brand = self.CP.brand
     self.no_main_cruise = brand in BRANDS_WITHOUT_MAIN_CRUISE_TOGGLE
-    lda_capable = bool(self.CP.flags & _HYUNDAI_LDA_MASK)
+    lda_capable = bool(self.CP.flags & _HYUNDAI_LDA_MASK) or bool(self.CP_IQ.flags & HyundaiFlagsIQ.HAS_LFA_BUTTON)
     self.hkg_allow = brand == "hyundai" and lda_capable
 
   def _reload_preferences(self, full: bool = False):

iqpilot/sab/tests/test_sab.py

@@ -6,7 +6,7 @@ from types import SimpleNamespace
 
 from cereal import custom
 from iqdbc.car import structs
-from iqdbc.car.hyundai.values import HyundaiFlags
+from iqdbc.car.hyundai.values import HyundaiFlags, HyundaiFlagsIQ
 from openpilot.iqpilot.sab.behavior import SteeringAssistanceBehavior
 from openpilot.iqpilot.selfdrive.selfdrived.events import IQEvents
 from openpilot.selfdrive.selfdrived.events import Events
@@ -39,7 +39,7 @@ class MockParams:
 
 
 def make_selfdrive(cp_flags: int, brand: str = "hyundai", main_cruise_allowed: bool = False,
-                   aol_enabled: bool = True):
+                   aol_enabled: bool = True, cp_iq_flags: int = 0):
   cp = SimpleNamespace(
     brand=brand,
     flags=cp_flags,
@@ -47,7 +47,7 @@ def make_selfdrive(cp_flags: int, brand: str = "hyundai", main_cruise_allowed: b
     notCar=False,
     safetyModel=structs.CarParams.SafetyModel.noOutput,
   )
-  cp_iq = SimpleNamespace(flags=0)
+  cp_iq = SimpleNamespace(flags=cp_iq_flags)
   return SimpleNamespace(
     CP=cp,
     CP_IQ=cp_iq,
@@ -100,7 +100,7 @@ def make_vw_car_state(cruise_available: bool, cruise_fault_lateral: bool = False
 
 
 def test_hyundai_lkas_button_can_arm_guidance_before_lateral_available():
-  selfdrive = make_selfdrive(HyundaiFlags.HAS_LDA_BUTTON)
+  selfdrive = make_selfdrive(0, cp_iq_flags=HyundaiFlagsIQ.HAS_LFA_BUTTON)
   guidance = SteeringAssistanceBehavior(selfdrive)
 
   guidance.update_events(make_car_state())

selfdrive/controls/radard.py

@@ -13,8 +13,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.simple_kalman import KF1D
 
 from iqdbc.car import structs
-from iqdbc.car.hyundai.values import HyundaiFlags
-from iqdbc.iqpilot.car.hyundai.values import HyundaiFlagsIQ
+from iqdbc.car.hyundai.values import HyundaiFlags, HyundaiFlagsIQ
 from openpilot.iqpilot.selfdrive.controls.lib.custom_stop_distance import CustomStopDistance