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firestar5683
2026-06-06 19:31:04 -05:00
parent 559a738fe7
commit 24b0f37ae7
3 changed files with 58 additions and 18 deletions
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opendbc_repo/opendbc/car/hyundai/interface.py
+5 -5
View File
@@ -9,7 +9,7 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
HyundaiStarPilotSafetyFlags, \
hyundai_cancel_button_enables_cruise
from opendbc.car.hyundai.radar_interface import get_radar_track_config
from opendbc.car.hyundai.radar_interface import get_radar_track_config, radar_tracks_available
from opendbc.car.interfaces import CarInterfaceBase, ACCEL_MIN
from opendbc.car.disable_ecu import disable_ecu, ecu_log
from opendbc.car.hyundai.carcontroller import CarController
@@ -191,13 +191,13 @@ class CarInterface(CarInterfaceBase):
# Common longitudinal control setup
radar_config = get_radar_track_config(ret.carFingerprint)
radar_tracks_available = radar_config is not None and radar_config.start_addr in fingerprint[radar_config.bus]
ret.radarUnavailable = not radar_tracks_available
radar_config = get_radar_track_config(ret.carFingerprint, ret.flags)
radar_available = radar_tracks_available(radar_config, fingerprint)
ret.radarUnavailable = not radar_available
if ret.flags & HyundaiFlags.NON_SCC:
ret.alphaLongitudinalAvailable = False
ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
if ret.openpilotLongitudinalControl and not (candidate in RADAR_LIVE_LONGITUDINAL_CAR and radar_tracks_available):
if ret.openpilotLongitudinalControl and not (candidate in RADAR_LIVE_LONGITUDINAL_CAR and radar_available):
ret.radarUnavailable = True
ret.pcmCruise = not ret.openpilotLongitudinalControl
apply_platform_longitudinal_params(ret)
opendbc_repo/opendbc/car/hyundai/radar_interface.py
+27 -7
View File
@@ -1,12 +1,12 @@
import math
from dataclasses import dataclass
from dataclasses import dataclass, replace
from opendbc.can import CANParser
from opendbc.can.dbc import DBC as DBCReader
from opendbc.can.parser import get_raw_value
from opendbc.car import Bus, structs
from opendbc.car.interfaces import RadarInterfaceBase
from opendbc.car.hyundai.values import CAR, DBC, HYUNDAI_MANDO_FRONT_RADAR_DBC, HYUNDAI_MRREVO14F_RADAR_DBC, \
from opendbc.car.hyundai.values import CAR, DBC, HyundaiFlags, HYUNDAI_MANDO_FRONT_RADAR_DBC, HYUNDAI_MRREVO14F_RADAR_DBC, \
HYUNDAI_MRR30_RADAR_DBC, HYUNDAI_MRR35_RADAR_DBC
from openpilot.common.swaglog import cloudlog
@@ -29,6 +29,7 @@ class RadarTrackConfig:
bus: int = 1
frequency: int = 50
parser_msg_count: int | None = None
expected_length: int | None = None
@property
def can_parser_msg_count(self) -> int:
@@ -38,18 +39,37 @@ class RadarTrackConfig:
RADAR_TRACK_CONFIGS = {
HYUNDAI_MANDO_FRONT_RADAR_DBC: RadarTrackConfig(RADAR_START_ADDR, RADAR_MSG_COUNT, "mando"),
HYUNDAI_MRREVO14F_RADAR_DBC: RadarTrackConfig(MRREVO14F_RADAR_START_ADDR, MRREVO14F_RADAR_MSG_COUNT, "mrrevo14f"),
HYUNDAI_MRR30_RADAR_DBC: RadarTrackConfig(MRR30_RADAR_START_ADDR, MRR30_RADAR_MSG_COUNT, "mrr30", bus=0),
HYUNDAI_MRR35_RADAR_DBC: RadarTrackConfig(MRR35_RADAR_START_ADDR, MRR35_RADAR_MSG_COUNT, "mrr35", bus=0, frequency=20),
HYUNDAI_MRR30_RADAR_DBC: RadarTrackConfig(MRR30_RADAR_START_ADDR, MRR30_RADAR_MSG_COUNT, "mrr30", bus=0, expected_length=32),
HYUNDAI_MRR35_RADAR_DBC: RadarTrackConfig(MRR35_RADAR_START_ADDR, MRR35_RADAR_MSG_COUNT, "mrr35", bus=0, frequency=20, expected_length=24),
}
# POC for parsing corner radars: https://github.com/commaai/openpilot/pull/24221/
def get_radar_track_config(car_fingerprint) -> RadarTrackConfig | None:
def get_radar_track_config(car_fingerprint, flags: int = 0) -> RadarTrackConfig | None:
radar_dbc = DBC[car_fingerprint].get(Bus.radar)
if car_fingerprint == CAR.GENESIS_G90 and radar_dbc == HYUNDAI_MANDO_FRONT_RADAR_DBC:
return RadarTrackConfig(RADAR_START_ADDR, G90_RADAR_MSG_COUNT, "mando", parser_msg_count=RADAR_MSG_COUNT)
return RADAR_TRACK_CONFIGS.get(radar_dbc)
radar_config = RADAR_TRACK_CONFIGS.get(radar_dbc)
if radar_config is None:
return None
if car_fingerprint == CAR.HYUNDAI_IONIQ_6 and flags & HyundaiFlags.CANFD_CAMERA_SCC:
return replace(radar_config, bus=1)
return radar_config
def radar_tracks_available(radar_config: RadarTrackConfig | None, fingerprint) -> bool:
if radar_config is None:
return False
msg_len = fingerprint[radar_config.bus].get(radar_config.start_addr)
if msg_len is None:
return False
return radar_config.expected_length is None or msg_len == radar_config.expected_length
def get_radar_can_parser(CP, radar_config):
@@ -64,7 +84,7 @@ def get_radar_can_parser(CP, radar_config):
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
self.radar_config = get_radar_track_config(CP.carFingerprint)
self.radar_config = get_radar_track_config(CP.carFingerprint, CP.flags)
self.updated_messages = set()
self.trigger_msg = (self.radar_config.start_addr + self.radar_config.can_parser_msg_count - 1
if self.radar_config is not None else RADAR_START_ADDR)
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+26 -6
View File
@@ -164,7 +164,6 @@ class TestHyundaiFingerprint:
(CAR.KIA_EV6_2025, MRR30_RADAR_START_ADDR),
(CAR.GENESIS_GV60_EV_1ST_GEN, MRR30_RADAR_START_ADDR),
(CAR.HYUNDAI_KONA_EV_2ND_GEN, MRR35_RADAR_START_ADDR),
(CAR.HYUNDAI_IONIQ_6, MRR35_RADAR_START_ADDR),
(CAR.HYUNDAI_IONIQ_9, MRR35_RADAR_START_ADDR),
):
radar_config = get_radar_track_config(candidate)
@@ -172,29 +171,50 @@ class TestHyundaiFingerprint:
for radar in (True, False):
fingerprint = gen_empty_fingerprint()
if radar:
fingerprint[radar_config.bus][radar_addr] = 8
fingerprint[radar_config.bus][radar_addr] = radar_config.expected_length or 8
CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
assert CP.radarUnavailable != radar
assert get_radar_track_config(CAR.HYUNDAI_KONA_EV_2022).bus == 1
assert get_radar_track_config(CAR.HYUNDAI_IONIQ_5).bus == 0
assert get_radar_track_config(CAR.HYUNDAI_IONIQ_6).start_addr == MRR35_RADAR_START_ADDR
ioniq_6_hda2_radar_config = get_radar_track_config(CAR.HYUNDAI_IONIQ_6)
ioniq_6_hda1_radar_config = get_radar_track_config(CAR.HYUNDAI_IONIQ_6, HyundaiFlags.CANFD_CAMERA_SCC)
assert ioniq_6_hda2_radar_config.start_addr == MRR35_RADAR_START_ADDR
assert ioniq_6_hda2_radar_config.bus == 0
assert ioniq_6_hda1_radar_config.bus == 1
assert ioniq_6_hda1_radar_config.frequency == 20
fingerprint = gen_empty_fingerprint()
fingerprint[1][MRR35_RADAR_START_ADDR] = 24
fingerprint[0][MRR35_RADAR_START_ADDR] = 8
CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fingerprint, [], False, False, False, None)
assert not CP.openpilotLongitudinalControl
assert CP.radarUnavailable
fingerprint = gen_empty_fingerprint()
fingerprint[ioniq_6_hda1_radar_config.bus][MRR35_RADAR_START_ADDR] = 24
CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fingerprint, [], False, False, False, None)
assert not CP.openpilotLongitudinalControl
assert CP.flags & HyundaiFlags.CANFD_CAMERA_SCC
assert not CP.radarUnavailable
CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, None)
assert CP.openpilotLongitudinalControl
assert CP.radarUnavailable
fingerprint = gen_empty_fingerprint()
fingerprint[get_radar_track_config(CAR.HYUNDAI_IONIQ_6).bus][MRR35_RADAR_START_ADDR] = 24
fingerprint[ioniq_6_hda1_radar_config.bus][MRR35_RADAR_START_ADDR] = 24
CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fingerprint, [], True, False, False, None)
assert CP.openpilotLongitudinalControl
assert CP.flags & HyundaiFlags.CANFD_CAMERA_SCC
assert not CP.radarUnavailable
fingerprint = gen_empty_fingerprint()
fingerprint[CanBus(None, fingerprint).CAM][0x50] = 32
fingerprint[ioniq_6_hda2_radar_config.bus][MRR35_RADAR_START_ADDR] = 24
CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fingerprint, [], True, False, False, None)
assert CP.openpilotLongitudinalControl
assert CP.flags & HyundaiFlags.CANFD_LKA_STEERING
assert not CP.radarUnavailable
assert get_radar_track_config(CAR.HYUNDAI_IONIQ_6).frequency == 20
fingerprint = gen_empty_fingerprint()
fingerprint[CanBus(None, fingerprint).CAM][0x50] = 32