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niro

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firestar5683
2026-09-15 16:10:15 -05:00
parent b41b0ab95f
commit 1f8b955a0f
2 changed files with 43 additions and 1 deletions
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opendbc_repo/opendbc/car/hyundai/hyundaican.py
+1 -1
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@@ -52,7 +52,7 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
# FcwOpt_USM 2 = Green car + lanes
# FcwOpt_USM 1 = White car + lanes
# FcwOpt_USM 0 = No car + lanes
values["CF_Lkas_FcwOpt_USM"] = lka_icon if CP.carFingerprint == CAR.GENESIS_G70_2020 else 2 if enabled else 1
values["CF_Lkas_FcwOpt_USM"] = lka_icon
# SysWarning 4 = keep hands on wheel
# SysWarning 5 = keep hands on wheel (red)
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+42
View File
@@ -788,6 +788,48 @@ class TestHyundaiFingerprint:
assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == 2
@pytest.mark.parametrize(("candidate", "expected_status"), (
(CAR.KIA_NIRO_PHEV_2022, 2),
(CAR.KIA_NIRO_HEV_2021, 2),
))
def test_classic_niro_aol_keeps_active_lkas_status(self, candidate, expected_status):
CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, get_test_toggles())
controller = CarController(DBC[CP.carFingerprint], CP)
controller.frame = 1
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0)], 0)
hud_control = SimpleNamespace(
visualAlert=CarControl.HUDControl.VisualAlert.none,
leftLaneVisible=True,
rightLaneVisible=True,
leftLaneDepart=False,
rightLaneDepart=False,
leadVisible=False,
)
CS = SimpleNamespace(lkas11=parser.vl["LKAS11"])
CC = SimpleNamespace(
enabled=False,
latActive=True,
longActive=False,
cruiseControl=SimpleNamespace(cancel=False, resume=False, override=False),
)
actuators = SimpleNamespace(longControlState=LongCtrlState.off)
msgs = controller.create_can_msgs(True, 156, False, 0.0, 0.0, False, hud_control, actuators, CS, CC, 2, 0)
lkas11 = next(msg for msg in msgs if msg[0] == 0x340)
parser.update([(1, [lkas11])])
assert parser.vl["LKAS11"]["CF_Lkas_ActToi"] == 1
assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == expected_status
CC.latActive = False
msgs = controller.create_can_msgs(False, 0, False, 0.0, 0.0, False, hud_control, actuators, CS, CC, 1, 0)
lkas11 = next(msg for msg in msgs if msg[0] == 0x340)
parser.update([(2, [lkas11])])
assert parser.vl["LKAS11"]["CF_Lkas_ActToi"] == 0
assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == 1
def test_kona_non_scc_uses_no_individual_lane_lkas_status(self):
CP = CarInterface.get_params(CAR.HYUNDAI_KONA_NON_SCC, gen_empty_fingerprint(), [], False, False, False, None)
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])