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test

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This commit is contained in:
firestar5683
2026-04-26 12:37:51 -05:00
parent 1262a2d8f3
commit 962e0d740a
4 changed files with 24 additions and 65 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
+1 -5
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@@ -216,12 +216,8 @@ class CarController(CarControllerBase):
# prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
if self.frame % 5 == 0 and lka_steering:
show_ioniq_6_lane_change_ui = self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and \
bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT) and CC.enabled
can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT,
left_lane_change=show_ioniq_6_lane_change_ui and CC.leftBlinker and not CC.rightBlinker,
right_lane_change=show_ioniq_6_lane_change_ui and CC.rightBlinker and not CC.leftBlinker))
self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT))
# LFA and HDA icons
if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+1 -22
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@@ -4,23 +4,6 @@ from opendbc.car import CanBusBase
from opendbc.car.crc import CRC16_XMODEM
from opendbc.car.hyundai.values import HyundaiFlags
IONIQ_6_LANE_CHANGE_CAM_0X362 = {
"left": {
"LEFT_LANE_LINE": 3,
"RIGHT_LANE_LINE": 3,
"BYTE5": 0,
"BYTE6": 17,
"BYTE8": 17,
},
"right": {
"LEFT_LANE_LINE": 3,
"RIGHT_LANE_LINE": 3,
"BYTE5": 1,
"BYTE6": 18,
"BYTE8": 8,
},
}
def _set_value(msg: bytearray, sig, ival: int) -> None:
i = sig.lsb // 8
@@ -150,7 +133,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
return ret
def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt, left_lane_change=False, right_lane_change=False):
def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt):
suppress_msg = "CAM_0x362" if lka_steering_alt else "CAM_0x2a4"
msg_bytes = 32 if lka_steering_alt else 24
@@ -160,10 +143,6 @@ def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt, left_lane_
values["SET_ME_0_2"] = 0
values["LEFT_LANE_LINE"] = 0
values["RIGHT_LANE_LINE"] = 0
if lka_steering_alt and left_lane_change ^ right_lane_change:
direction = "left" if left_lane_change else "right"
# These fields are the stable stock lane-change markers from the Ioniq 6 camera message.
values.update(IONIQ_6_LANE_CHANGE_CAM_0X362[direction])
return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
opendbc_repo/opendbc/car/hyundai/radar_interface.py
+22 -1
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@@ -3,7 +3,8 @@ import math
from opendbc.can import CANParser
from opendbc.car import Bus, structs
from opendbc.car.interfaces import RadarInterfaceBase
from opendbc.car.hyundai.values import DBC
from opendbc.car.hyundai.values import CAR, DBC
from openpilot.common.swaglog import cloudlog
RADAR_START_ADDR = 0x500
RADAR_MSG_COUNT = 32
@@ -27,9 +28,29 @@ class RadarInterface(RadarInterfaceBase):
self.track_id = 0
self.radar_off_can = CP.radarUnavailable
# Probe whether radar tracks still exist on the Ioniq 6 while OP long is active,
# without changing planner behavior yet.
self.ioniq_6_radar_probe = CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and CP.openpilotLongitudinalControl and self.radar_off_can
self.ioniq_6_radar_probe_logged = False
self.ioniq_6_radar_probe_updates = 0
self.rcp = get_radar_can_parser(CP)
def update(self, can_strings):
if self.ioniq_6_radar_probe and self.rcp is not None and not self.ioniq_6_radar_probe_logged:
vls = self.rcp.update(can_strings)
self.updated_messages.update(vls)
self.ioniq_6_radar_probe_updates += 1
if self.trigger_msg in self.updated_messages:
rr = self._update(self.updated_messages)
cloudlog.warning(f"Ioniq 6 radar probe: saw {len(rr.points)} radar tracks with radarUnavailable forced on")
self.updated_messages.clear()
self.ioniq_6_radar_probe_logged = True
elif self.ioniq_6_radar_probe_updates >= 500:
cloudlog.warning("Ioniq 6 radar probe: no radar track frames observed after startup")
self.ioniq_6_radar_probe_logged = True
self.updated_messages.clear()
if self.radar_off_can or (self.rcp is None):
return super().update(None)
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
-37
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@@ -286,43 +286,6 @@ class TestHyundaiFingerprint:
assert decode_ioniq_6_blindspot_radar_state(0x1A) == (True, True)
assert decode_ioniq_6_blindspot_radar_state(10.0) == (False, True)
def test_ioniq_6_lane_change_suppress_lfa_uses_stock_camera_markers(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.CANFD_LKA_STEERING_ALT)
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
can_bus = CanBus(CP)
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CAM_0x362", 0)], can_bus.ACAN)
lfa_block_msg = {
"COUNTER": 9,
**{f"BYTE{i}": i for i in range(3, 32) if i != 7},
}
parser.update([(1, [hyundaicanfd.create_suppress_lfa(packer, can_bus, lfa_block_msg, True)])])
assert parser.vl["CAM_0x362"]["LEFT_LANE_LINE"] == 0
assert parser.vl["CAM_0x362"]["RIGHT_LANE_LINE"] == 0
assert parser.vl["CAM_0x362"]["BYTE5"] == 5
assert parser.vl["CAM_0x362"]["BYTE6"] == 6
assert parser.vl["CAM_0x362"]["BYTE8"] == 8
parser.update([(2, [hyundaicanfd.create_suppress_lfa(packer, can_bus, lfa_block_msg, True, right_lane_change=True)])])
assert parser.vl["CAM_0x362"]["LEFT_LANE_LINE"] == 3
assert parser.vl["CAM_0x362"]["RIGHT_LANE_LINE"] == 3
assert parser.vl["CAM_0x362"]["BYTE5"] == 1
assert parser.vl["CAM_0x362"]["BYTE6"] == 18
assert parser.vl["CAM_0x362"]["BYTE8"] == 8
assert parser.vl["CAM_0x362"]["BYTE10"] == 10
parser.update([(3, [hyundaicanfd.create_suppress_lfa(packer, can_bus, lfa_block_msg, True, left_lane_change=True)])])
assert parser.vl["CAM_0x362"]["LEFT_LANE_LINE"] == 3
assert parser.vl["CAM_0x362"]["RIGHT_LANE_LINE"] == 3
assert parser.vl["CAM_0x362"]["BYTE5"] == 0
assert parser.vl["CAM_0x362"]["BYTE6"] == 17
assert parser.vl["CAM_0x362"]["BYTE8"] == 17
assert parser.vl["CAM_0x362"]["BYTE10"] == 10
def test_sportage_angle_jerk_override_is_scoped(self):
sportage = CarParams.new_message()
sportage.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026