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TRY AGAIN, SPIDERMAN

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This commit is contained in:
firestar5683
2026-06-10 22:30:48 -05:00
parent 1e604fd80e
commit 79e31ff241
7 changed files with 87 additions and 58 deletions
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opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+10 -24
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@@ -683,7 +683,7 @@ class TestHyundaiFingerprint:
ret = update(0, 3)
assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
def test_sonata_hybrid_uses_alt_bus_lkas_parser(self):
def test_sonata_hybrid_uses_main_bus_lkas_parser(self):
toggles = get_test_toggles()
fingerprint = gen_empty_fingerprint()
fingerprint[0][0x391] = 8
@@ -694,9 +694,9 @@ class TestHyundaiFingerprint:
car_state = CarState(CP, FPCP)
can_parsers = car_state.get_can_parsers(CP)
assert Bus.alt in can_parsers
assert Bus.alt not in can_parsers
def test_sonata_hybrid_alt_bus_clu13_lkas_button_event(self):
def test_sonata_hybrid_bcm_lkas_button_event(self):
toggles = get_test_toggles()
fingerprint = gen_empty_fingerprint()
fingerprint[0][0x391] = 8
@@ -709,18 +709,20 @@ class TestHyundaiFingerprint:
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
def update(lkas_button: int, frame: int):
msg = packer.make_can_msg("CLU13", 1, {
"CF_Clu_LdwsLkasSW": lkas_button,
msg = packer.make_can_msg("BCM_PO_11", 0, {
"LDA_BTN": lkas_button,
})
can_parsers[Bus.alt].update([(frame, [msg])])
can_parsers[Bus.pt].update([(frame, [msg])])
return car_state.update(can_parsers, toggles)[0]
update(0, 1)
ret = update(1, 2)
assert any(be.type == ButtonType.lkas and be.pressed for be in ret.buttonEvents)
ret = update(0, 3)
assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
def test_sonata_hybrid_alt_bus_initial_high_does_not_emit_lkas_button_event(self):
def test_sonata_hybrid_ignores_noisy_alt_bus_clu13_lkas_button(self):
toggles = get_test_toggles()
fingerprint = gen_empty_fingerprint()
fingerprint[0][0x391] = 8
@@ -730,24 +732,8 @@ class TestHyundaiFingerprint:
car_state = CarState(CP, FPCP)
can_parsers = car_state.get_can_parsers(CP)
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
def update(lkas_button: int, frame: int):
msg = packer.make_can_msg("CLU13", 1, {
"CF_Clu_LdwsLkasSW": lkas_button,
})
can_parsers[Bus.alt].update([(frame, [msg])])
return car_state.update(can_parsers, toggles)[0]
ret = update(1, 1)
assert not any(be.type == ButtonType.lkas for be in ret.buttonEvents)
ret = update(0, 2)
assert not any(be.type == ButtonType.lkas for be in ret.buttonEvents)
ret = update(1, 3)
assert any(be.type == ButtonType.lkas and be.pressed for be in ret.buttonEvents)
assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
assert Bus.alt not in can_parsers
def test_sonata_alt_bus_clu13_swl_stat_lkas_button_event(self):
toggles = get_test_toggles()
opendbc_repo/opendbc/car/hyundai/values.py
-1
View File
@@ -917,7 +917,6 @@ CANCEL_BUTTON_ENABLE_CARS = frozenset({
# engage/disengage regression.
ALT_BUS_LDA_BUTTON_CARS = frozenset({
CAR.HYUNDAI_SONATA,
CAR.HYUNDAI_SONATA_HYBRID,
})
# On these Sonata layouts the alt-bus LKAS button pulses through the CLU13
selfdrive/car/redneck_cruise.py
+7 -1
View File
@@ -13,7 +13,9 @@ HYST_GAP = 0.0
INCREASE_INACTIVE_TIMER = 0.12
DECREASE_INACTIVE_TIMER = 0.05
LEAD_INCREASE_INACTIVE_TIMER = 0.05
MANUAL_BUTTON_INACTIVE_TIMER = 0.5
LEAD_RECOVERY_LOOKAHEAD_POINTS = 4
LEAD_RECOVERY_HOLD_BUFFER_MS = 0.5 * CV.MPH_TO_MS
LEAD_COAST_BUFFER_MS = 1.0 * CV.MPH_TO_MS
CRUISE_BUTTON_TIMERS = {
@@ -43,6 +45,10 @@ def select_redneck_target_speed(v_cruise_kph: float, speed_cluster_ms: float,
return min(target_speed_ms, recovery_target_speed_ms)
decrease_target_speed_ms = min(plan_speeds_ms[:lookahead_points])
if lead_present and target_speed_ms > speed_cluster_ms and \
decrease_target_speed_ms >= speed_cluster_ms - LEAD_RECOVERY_HOLD_BUFFER_MS:
return speed_cluster_ms
if lead_present and decrease_target_speed_ms < speed_cluster_ms:
decrease_target_speed_ms = max(0.0, decrease_target_speed_ms - LEAD_COAST_BUFFER_MS)
@@ -107,7 +113,7 @@ class RedneckCruise:
def _update_readiness(self, CS: car.CarState, CC: car.CarControl) -> None:
update_manual_button_timers(CS, self.cruise_button_timers)
button_pressed = any(timer > 0 for timer in self.cruise_button_timers.values())
button_pressed = any(0 < timer <= int(MANUAL_BUTTON_INACTIVE_TIMER / DT_CTRL) for timer in self.cruise_button_timers.values())
self.is_ready = CC.enabled and not CC.cruiseControl.override and not CC.cruiseControl.cancel and not CC.cruiseControl.resume and not button_pressed
def _desired_state(self) -> str:
selfdrive/car/tests/test_redneck_cruise.py
+34
View File
@@ -8,6 +8,7 @@ from openpilot.selfdrive.car.redneck_cruise import (
DECREASE_INACTIVE_TIMER,
INCREASE_INACTIVE_TIMER,
LEAD_INCREASE_INACTIVE_TIMER,
MANUAL_BUTTON_INACTIVE_TIMER,
RedneckCruise,
SEND_BUTTON_DECREASE,
SEND_BUTTON_INCREASE,
@@ -106,6 +107,27 @@ class TestRedneckCruise(unittest.TestCase):
send_button, _ = self._run_until_active(target_mph=25.0, speed_cluster_mph=20.0, button_events=[button_event])
self.assertEqual(SEND_BUTTON_NONE, send_button)
def test_missing_button_release_only_suppresses_temporarily(self):
button_event = self._button_event(ButtonType.accelCruise, True)
send_button, _ = self.redneck.run(
self._new_state(speed_cluster_mph=20.0, button_events=[button_event]),
self._new_control(),
25.0 * CV.MPH_TO_MS,
is_metric=False,
)
self.assertEqual(SEND_BUTTON_NONE, send_button)
frames = int((MANUAL_BUTTON_INACTIVE_TIMER + INCREASE_INACTIVE_TIMER) / DT_CTRL) + 4
for _ in range(frames):
send_button, _ = self.redneck.run(
self._new_state(speed_cluster_mph=20.0),
self._new_control(),
25.0 * CV.MPH_TO_MS,
is_metric=False,
)
self.assertEqual(SEND_BUTTON_INCREASE, send_button)
def test_suppresses_output_for_capnp_style_button_events(self):
button_event = SimpleNamespace(type=SimpleNamespace(raw=int(ButtonType.accelCruise)), pressed=True)
send_button, _ = self._run_until_active(target_mph=25.0, speed_cluster_mph=20.0, button_events=[button_event])
@@ -182,6 +204,18 @@ class TestRedneckCruise(unittest.TestCase):
)
self.assertAlmostEqual(55.8 * CV.MPH_TO_MS, target_speed)
def test_target_speed_holds_current_step_during_lead_recovery(self):
target_speed = select_redneck_target_speed(
128.0,
79.0 * CV.MPH_TO_MS,
0.0,
[78.56 * CV.MPH_TO_MS, 78.56 * CV.MPH_TO_MS, 78.56 * CV.MPH_TO_MS, 78.56 * CV.MPH_TO_MS],
10,
allow_plan_decrease=True,
lead_present=True,
)
self.assertAlmostEqual(79.0 * CV.MPH_TO_MS, target_speed)
def test_target_speed_does_not_use_recovery_branch_when_cluster_is_above_internal_max(self):
target_speed = select_redneck_target_speed(
45.0,
selfdrive/controls/lib/latcontrol_torque.py
+8 -8
View File
@@ -317,9 +317,9 @@ ELANTRA_NON_SCC_TURN_IN_BOOST_RIGHT = 0.12
ELANTRA_NON_SCC_UNWIND_TAPER_LEFT = 0.22
ELANTRA_NON_SCC_UNWIND_TAPER_RIGHT = 0.12
KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT = 1.10
KIA_FORTE_FF_REDUCTION_LEFT = 0.10
KIA_FORTE_FF_REDUCTION_RIGHT = 0.24
KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT = 1.05
KIA_FORTE_FF_REDUCTION_LEFT = 0.05
KIA_FORTE_FF_REDUCTION_RIGHT = 0.10
KIA_FORTE_FF_ONSET = 0.16
KIA_FORTE_FF_ONSET_WIDTH = 0.06
KIA_FORTE_FF_CUTOFF = 1.20
@@ -327,16 +327,16 @@ KIA_FORTE_FF_CUTOFF_WIDTH = 0.36
KIA_FORTE_TRANSITION_SPEED = 9.0
KIA_FORTE_PHASE_SCALE = 0.10
KIA_FORTE_TURN_IN_BOOST_LEFT = 0.10
KIA_FORTE_TURN_IN_BOOST_RIGHT = 0.00
KIA_FORTE_UNWIND_TAPER_LEFT = 0.26
KIA_FORTE_UNWIND_TAPER_RIGHT = 0.04
KIA_FORTE_TURN_IN_BOOST_RIGHT = 0.05
KIA_FORTE_UNWIND_TAPER_LEFT = 0.18
KIA_FORTE_UNWIND_TAPER_RIGHT = 0.02
KIA_FORTE_CRAWL_TURN_IN_FF_BOOST_LEFT = 0.10
KIA_FORTE_CRAWL_TURN_IN_FF_BOOST_RIGHT = 0.14
KIA_FORTE_CRAWL_TURN_IN_FF_SPEED = 4.5
KIA_FORTE_CRAWL_TURN_IN_FF_SPEED_WIDTH = 0.8
KIA_FORTE_CRAWL_TURN_IN_FF_LAT = 0.10
KIA_FORTE_CRAWL_TURN_IN_FF_LAT_WIDTH = 0.05
KIA_FORTE_CENTER_TAPER_MAX = 0.18
KIA_FORTE_CENTER_TAPER_MAX = 0.12
KIA_FORTE_CENTER_TAPER_LAT = 0.18
KIA_FORTE_CENTER_TAPER_LAT_WIDTH = 0.04
KIA_FORTE_CENTER_TAPER_SPEED = 22.5
@@ -347,7 +347,7 @@ KIA_FORTE_FRICTION_SPEED = 24.0
KIA_FORTE_FRICTION_SPEED_WIDTH = 3.0
KIA_FORTE_FRICTION_CALM_JERK = 0.24
KIA_FORTE_FRICTION_CALM_JERK_WIDTH = 0.08
KIA_FORTE_FRICTION_THRESHOLD_GAIN = 0.18
KIA_FORTE_FRICTION_THRESHOLD_GAIN = 0.10
PALISADE_BASE_LAT_ACCEL_FACTOR_MULT = 0.98
PALISADE_FF_GAIN_LEFT = 0.14
starpilot/controls/starpilot_card.py
+7 -5
View File
@@ -103,22 +103,24 @@ class StarPilotCard:
self.switchback_mode_enabled = self.params_memory.get_bool("SwitchbackModeEnabled")
if self.hyundai_aol_needs_engagement:
if carState.gearShifter in NON_DRIVING_GEARS or not carState.cruiseState.available:
if carState.gearShifter in NON_DRIVING_GEARS:
self.hyundai_aol_ready = False
self.always_on_lateral_allowed = False
elif sm["selfdriveState"].active or carState.cruiseState.enabled:
self.hyundai_aol_ready = True
can_toggle_aol = not self.hyundai_aol_needs_engagement or self.hyundai_aol_ready
if self.CP.brand == "hyundai" or starpilot_toggles.lkas_allowed_for_aol:
for be in carState.buttonEvents:
if be.type == ButtonType.lkas and be.pressed and starpilot_toggles.always_on_lateral_lkas and can_toggle_aol:
if be.type == ButtonType.lkas and be.pressed and starpilot_toggles.always_on_lateral_lkas:
if self.hyundai_aol_needs_engagement:
self.hyundai_aol_ready = True
self.always_on_lateral_allowed = not self.always_on_lateral_allowed
if carState.cruiseState.enabled or self.pause_lateral:
self.pause_lateral = not self.always_on_lateral_allowed
elif be.type == ButtonType.mainCruise and be.pressed:
if starpilot_toggles.main_cruise_aol_toggle and can_toggle_aol:
if starpilot_toggles.main_cruise_aol_toggle:
if self.hyundai_aol_needs_engagement:
self.hyundai_aol_ready = True
self.always_on_lateral_allowed = not self.always_on_lateral_allowed
elif starpilot_toggles.main_cruise_slc_adopt and starpilot_toggles.speed_limit_controller:
self.params_memory.put_bool("SLCAdoptSpeedLimit", True)
starpilot/controls/tests/test_starpilot_card.py
+21 -19
View File
@@ -97,7 +97,7 @@ def test_honda_lkas_button_can_toggle_always_on_lateral(monkeypatch, tmp_path):
assert ret.pauseLateral is False
def test_hyundai_lkas_button_waits_for_normal_engagement_before_aol(monkeypatch, tmp_path):
def test_hyundai_lkas_button_can_start_aol_before_normal_engagement(monkeypatch, tmp_path):
monkeypatch.setattr(spc, "Params", FakeParams)
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
@@ -117,17 +117,9 @@ def test_hyundai_lkas_button_waits_for_normal_engagement_before_aol(monkeypatch,
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is False
assert ret.alwaysOnLateralEnabled is False
sm["selfdriveState"].active = True
car_state.buttonEvents = []
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is True
assert ret.alwaysOnLateralEnabled is True
sm["selfdriveState"].active = False
car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)]
ret = card.update(car_state, starpilot_car_state, sm, toggles)
@@ -135,6 +127,23 @@ def test_hyundai_lkas_button_waits_for_normal_engagement_before_aol(monkeypatch,
assert ret.pauseLateral is False
def test_hyundai_aol_does_not_auto_start_from_cruise_availability(monkeypatch, tmp_path):
monkeypatch.setattr(spc, "Params", FakeParams)
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
card = spc.StarPilotCard(
SimpleNamespace(brand="hyundai"),
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
)
ret = card.update(make_car_state(available=True), SimpleNamespace(distancePressed=False), make_sm(),
make_toggles(always_on_lateral=True, always_on_lateral_lkas=True))
assert ret.alwaysOnLateralAllowed is False
assert ret.alwaysOnLateralEnabled is False
def test_hyundai_canfd_lkas_button_can_toggle_aol_before_engagement(monkeypatch, tmp_path):
monkeypatch.setattr(spc, "Params", FakeParams)
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
@@ -181,7 +190,7 @@ def test_kia_forte_non_scc_main_cruise_button_can_toggle_aol_before_engagement(m
assert ret.alwaysOnLateralEnabled is True
def test_hyundai_main_cruise_button_toggles_aol_when_assigned_to_aol(monkeypatch, tmp_path):
def test_hyundai_main_cruise_button_can_start_aol_before_normal_engagement(monkeypatch, tmp_path):
monkeypatch.setattr(spc, "Params", FakeParams)
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
@@ -197,17 +206,10 @@ def test_hyundai_main_cruise_button_toggles_aol_when_assigned_to_aol(monkeypatch
toggles = make_toggles(always_on_lateral=True, main_cruise_aol_toggle=True)
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is False
sm["selfdriveState"].active = True
car_state.buttonEvents = []
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is False
assert ret.alwaysOnLateralAllowed is True
assert ret.alwaysOnLateralEnabled is True
car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)]
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is True
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is False