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g90 revert

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This commit is contained in:
firestar5683
2026-05-19 09:10:57 -05:00
parent 55a93013c7
commit 180b0c6768
4 changed files with 8 additions and 87 deletions
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opendbc_repo/opendbc/car/hyundai/carstate.py
+4 -35
View File
@@ -8,7 +8,7 @@ from opendbc.car import Bus, create_button_events, structs
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, CAR, DBC, Buttons, CarControllerParams, \
hyundai_cancel_button_enables_cruise, ALT_BUS_LDA_BUTTON_CARS
hyundai_cancel_button_enables_cruise
from opendbc.car.interfaces import CarStateBase
ButtonType = structs.CarState.ButtonEvent.Type
@@ -25,7 +25,6 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
IONIQ_6_BLINDSPOT_RIGHT_MASK = 0x08
IONIQ_6_BLINDSPOT_LEFT_MASK = 0x10
CANFD_CAMERA_LEAD_MIN_DISTANCE = 0.1
ALT_BUS_LDA_BUTTON_BURST_DEBOUNCE_NS = int(1.3e9)
def get_non_scc_cruise_signals(CP) -> tuple[str, str, str, str, str]:
@@ -75,8 +74,6 @@ class CarState(CarStateBase):
self.cruise_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.main_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.lda_button = 0
self.lda_button_raw = 0
self.lda_button_last_raw_rise_ts_nanos = 0
self.left_paddle = 0
self.mode_button = 0
self.custom_button = 0
@@ -171,30 +168,9 @@ class CarState(CarStateBase):
return False
def create_alt_bus_lda_button_events(self, cp_alt: CANParser) -> list[structs.CarState.ButtonEvent]:
raw_lda_button = int(cp_alt.vl["CLU13"]["CF_Clu_LdwsLkasSW"])
raw_lda_button_ts_nanos = cp_alt.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"]
button_events: list[structs.CarState.ButtonEvent] = []
# The G90 cluster pulses this bit multiple times per physical LKAS press burst.
# Collapse each burst into a single synthetic press/release pair so downstream
# button actions behave like a normal momentary wheel button.
if raw_lda_button and not self.lda_button_raw:
if self.lda_button_last_raw_rise_ts_nanos == 0 or \
raw_lda_button_ts_nanos - self.lda_button_last_raw_rise_ts_nanos > ALT_BUS_LDA_BUTTON_BURST_DEBOUNCE_NS:
button_events = [
structs.CarState.ButtonEvent(pressed=True, type=ButtonType.lkas),
structs.CarState.ButtonEvent(pressed=False, type=ButtonType.lkas),
]
self.lda_button_last_raw_rise_ts_nanos = raw_lda_button_ts_nanos
self.lda_button_raw = raw_lda_button
return button_events
def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
cp = can_parsers[Bus.pt]
cp_cam = can_parsers[Bus.cam]
cp_alt = can_parsers.get(Bus.alt)
if self.CP.flags & HyundaiFlags.CANFD:
return self.update_canfd(can_parsers)
@@ -328,18 +304,14 @@ class CarState(CarStateBase):
prev_cruise_buttons = self.cruise_buttons[-1]
prev_main_buttons = self.main_buttons[-1]
prev_lda_button = self.lda_button
lkas_button_events = []
self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
if self.CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS and cp_alt is not None:
lkas_button_events = self.create_alt_bus_lda_button_events(cp_alt)
elif self.CP.flags & HyundaiFlags.HAS_LDA_BUTTON:
if self.CP.flags & HyundaiFlags.HAS_LDA_BUTTON:
self.lda_button = cp.vl["BCM_PO_11"]["LDA_BTN"]
lkas_button_events = create_button_events(self.lda_button, prev_lda_button, {1: ButtonType.lkas})
ret.buttonEvents = [*self.create_cruise_button_events(self.cruise_buttons[-1], prev_cruise_buttons),
*create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
*lkas_button_events]
*create_button_events(self.lda_button, prev_lda_button, {1: ButtonType.lkas})]
ret.blockPcmEnable = not self.recent_button_interaction()
@@ -538,10 +510,7 @@ class CarState(CarStateBase):
if CP.flags & HyundaiFlags.NON_SCC and not (CP.flags & HyundaiFlags.NON_SCC_NO_FCA):
msgs.append(("FCA11", 0)) # Non-SCC trims can stop publishing FCA11; don't let it poison canValid
parsers = {
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], msgs, 0),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
}
if CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS:
parsers[Bus.alt] = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CLU13", 0)], 1)
return parsers
opendbc_repo/opendbc/car/hyundai/interface.py
+2 -2
View File
@@ -5,7 +5,7 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CarControllerPara
CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
CANFD_SECURITYACCESS_CAR, \
UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
hyundai_cancel_button_enables_cruise, ALT_BUS_LDA_BUTTON_CARS
hyundai_cancel_button_enables_cruise
from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
from opendbc.car.interfaces import CarInterfaceBase, ACCEL_MIN
from opendbc.car.disable_ecu import disable_ecu, ecu_log
@@ -139,7 +139,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[0].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
# These cars have the LFA button on the steering wheel
if candidate in ALT_BUS_LDA_BUTTON_CARS or 0x391 in fingerprint[0] or ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
if 0x391 in fingerprint[0] or ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
ret.flags |= HyundaiFlags.HAS_LDA_BUTTON.value
if ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAN_CANFD_BLENDED.value
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+2 -45
View File
@@ -10,8 +10,7 @@ from opendbc.car.fw_versions import build_fw_dict, match_fw_to_car
from opendbc.car.hyundai.carcontroller import CarController, Ioniq6LongitudinalTuningState, GenesisG90LongitudinalTuningState, \
update_ioniq_6_longitudinal_tuning, \
update_genesis_g90_longitudinal_tuning
from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
ALT_BUS_LDA_BUTTON_BURST_DEBOUNCE_NS
from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state
from opendbc.car.hyundai.interface import CarInterface
from opendbc.car.hyundai import hyundaican, hyundaicanfd
from opendbc.car.hyundai.hyundaicanfd import CanBus
@@ -19,8 +18,7 @@ from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, Buttons, \
HyundaiStarPilotSafetyFlags
CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, Buttons
LongCtrlState = CarControl.Actuators.LongControlState
from opendbc.car.hyundai.fingerprints import FW_VERSIONS
@@ -211,47 +209,6 @@ class TestHyundaiFingerprint:
assert CP.vEgoStopping == pytest.approx(0.8)
assert CP.stoppingDecelRate == pytest.approx(0.55)
def test_genesis_g90_sets_has_lkas_button_flag(self):
toggles = get_test_toggles()
CP = CarInterface.get_params(CAR.GENESIS_G90, gen_empty_fingerprint(), [], True, False, False, toggles)
FPCP = CarInterface.get_starpilot_params(CAR.GENESIS_G90, gen_empty_fingerprint(), [], CP, toggles)
assert CP.flags & HyundaiFlags.HAS_LDA_BUTTON
assert FPCP.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
def test_genesis_g90_lkas_button_uses_clu13_on_alt_bus(self):
toggles = get_test_toggles()
CP = CarInterface.get_params(CAR.GENESIS_G90, gen_empty_fingerprint(), [], True, False, False, toggles)
FPCP = CarInterface.get_starpilot_params(CAR.GENESIS_G90, gen_empty_fingerprint(), [], CP, toggles)
car_state = CarState(CP, FPCP)
can_parsers = car_state.get_can_parsers(CP)
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
assert Bus.alt in can_parsers
can_parsers[Bus.alt].update([(1, [packer.make_can_msg("CLU13", 1, {"CF_Clu_LdwsLkasSW": 1})])])
ret, _ = car_state.update(can_parsers, toggles)
assert [(be.type, be.pressed) for be in ret.buttonEvents] == [(ButtonType.lkas, True), (ButtonType.lkas, False)]
can_parsers[Bus.alt].update([(2, [packer.make_can_msg("CLU13", 1, {"CF_Clu_LdwsLkasSW": 0})])])
ret, _ = car_state.update(can_parsers, toggles)
assert len(ret.buttonEvents) == 0
can_parsers[Bus.alt].update([(3, [packer.make_can_msg("CLU13", 1, {"CF_Clu_LdwsLkasSW": 1})])])
ret, _ = car_state.update(can_parsers, toggles)
assert len(ret.buttonEvents) == 0
quiet_ts = ALT_BUS_LDA_BUTTON_BURST_DEBOUNCE_NS + 3
can_parsers[Bus.alt].update([(quiet_ts, [packer.make_can_msg("CLU13", 1, {"CF_Clu_LdwsLkasSW": 0})])])
ret, _ = car_state.update(can_parsers, toggles)
assert len(ret.buttonEvents) == 0
next_press_ts = ALT_BUS_LDA_BUTTON_BURST_DEBOUNCE_NS + 4
can_parsers[Bus.alt].update([(next_press_ts, [packer.make_can_msg("CLU13", 1, {"CF_Clu_LdwsLkasSW": 1})])])
ret, _ = car_state.update(can_parsers, toggles)
assert [(be.type, be.pressed) for be in ret.buttonEvents] == [(ButtonType.lkas, True), (ButtonType.lkas, False)]
def test_palisade_2023_longitudinal_params_soften_final_stop_hold(self):
toggles = get_test_toggles()
CP = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, toggles)
opendbc_repo/opendbc/car/hyundai/values.py
-5
View File
@@ -759,11 +759,6 @@ CANCEL_BUTTON_ENABLE_CARS = frozenset({
})
ALT_BUS_LDA_BUTTON_CARS = frozenset({
CAR.GENESIS_G90,
})
def hyundai_cancel_button_enables_cruise(car_fingerprint) -> bool:
return car_fingerprint in CANCEL_BUTTON_ENABLE_CARS