Ray Pedal Path

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -830,7 +830,7 @@ class CarController(CarControllerBase):
       pedal_ready = CS.ray_pedal_valid and CS.ray_pedal_state == 0
       pedal_active = (CC.longActive and pedal_ready and not CC.cruiseControl.override and
                       not CS.out.gasPressed and not CS.out.brakePressed and
-                      not CS.out.cruiseState.enabled and CS.out.vEgo >= self.CP.minEnableSpeed)
+                      not CS.out.cruiseState.enabled)
       if pedal_active:
         target = float(np.clip(accel / CarControllerParams.ACCEL_MAX * RAY_PEDAL_COMMAND_CAP,
                                0.0, RAY_PEDAL_COMMAND_CAP))

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -313,7 +313,7 @@ class CarInterface(CarInterfaceBase):
       ret.pcmCruise = False
       ret.radarUnavailable = True
       ret.autoResumeSng = False
-      ret.minEnableSpeed = 5.0  # pedal-only: no commanded friction brake/standstill hold
+      ret.minEnableSpeed = -1.0
       ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.LONG.value
 
     # Car specific configuration overrides

opendbc_repo/opendbc/car/hyundai/tests/test_ray_pedal.py

@@ -32,7 +32,7 @@ def test_ray_pedal_fingerprint_isolation(candidate, fingerprint, has_pedal):
   if has_pedal:
     assert not CP.pcmCruise
     assert CP.safetyConfigs[-1].safetyParam == 0x9405
-    assert CP.minEnableSpeed == 5.0
+    assert CP.minEnableSpeed == -1.0
     assert not CP.autoResumeSng
     FPCP = CarInterface.get_starpilot_params(candidate, fingerprint, [], CP, SimpleNamespace())
     assert FPCP.canUsePedal
@@ -128,13 +128,14 @@ def test_ray_without_pedal_keeps_native_gas_detection():
   assert ret.gasPressed
 
 
-def test_ray_controller_heartbeats_and_only_actuates_when_ready():
+@pytest.mark.parametrize("speed", [0.0, 0.1, 1.0, 4.9, 5.0, 12.0])
+def test_ray_controller_heartbeats_and_only_actuates_when_ready(speed):
   CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
   controller = CarController(DBC[CP.carFingerprint], CP)
   parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0), ("CLU11", 0)], 0)
   CS = SimpleNamespace(
     lkas11=parser.vl["LKAS11"], clu11=parser.vl["CLU11"],
-    out=SimpleNamespace(vEgo=12.0, gasPressed=False, brakePressed=False,
+    out=SimpleNamespace(vEgo=speed, gasPressed=False, brakePressed=False,
                         cruiseState=SimpleNamespace(enabled=False)),
     ray_pedal_valid=True, ray_pedal_state=5, is_metric=True,
   )
@@ -169,6 +170,34 @@ def test_ray_controller_heartbeats_and_only_actuates_when_ready():
   assert next(dat for addr, dat, bus in messages if addr == 0x200 and bus == 0)[:4] == bytes(4)
   assert any(addr == 0x4F1 and bus == 0 for addr, _, bus in messages)  # cancel stock CC
 
+  CS.out.cruiseState.enabled = False
+  CS.out.brakePressed = True
+  assert pedal_msg(2.0, 20)[:4] == bytes(4)
+  CS.out.brakePressed = False
+  assert pedal_msg(2.0, 24)[4] & 0x80
+  assert controller._ray_pedal_gas_last == pytest.approx(0.012)
+  assert pedal_msg(2.0, 28)[4] & 0x80
+  assert controller._ray_pedal_gas_last == pytest.approx(0.024)
+  CS.out.brakePressed = True
+  assert pedal_msg(2.0, 32)[:4] == bytes(4)
+  assert controller._ray_pedal_gas_last == 0.0
+  CS.out.brakePressed = False
+  assert pedal_msg(2.0, 36)[4] & 0x80
+  assert controller._ray_pedal_gas_last == pytest.approx(0.012)
+
+  CC.longActive = False
+  assert pedal_msg(2.0, 40)[:4] == bytes(4)
+  CC.longActive = True
+  CC.cruiseControl.override = True
+  assert pedal_msg(2.0, 44)[:4] == bytes(4)
+  CC.cruiseControl.override = False
+  CS.ray_pedal_valid = False
+  assert pedal_msg(2.0, 48)[:4] == bytes(4)
+  CS.ray_pedal_valid = True
+  for fault in range(1, 6):
+    CS.ray_pedal_state = fault
+    assert pedal_msg(2.0, 48 + 4 * fault)[:4] == bytes(4)
+
 
 @pytest.mark.parametrize("candidate", [CAR.KIA_RAY_EV, CAR.HYUNDAI_KONA_EV_NON_SCC])
 def test_ray_stock_cruise_cancellation_survives_accelerator_override(candidate):

opendbc_repo/opendbc/safety/tests/test_hyundai_ray_pedal.py

@@ -4,6 +4,7 @@ from opendbc.can import CANPacker
 from opendbc.car import create_gas_interceptor_command
 from opendbc.car.structs import CarParams
 from opendbc.safety.tests.libsafety import libsafety_py
+from opendbc.safety.tests.test_hyundai import checksum
 
 
 @pytest.mark.parametrize("param", [0x9405, 0x9C05, 0x9401, 0x1005, 0])
@@ -98,3 +99,33 @@ def test_ray_native_cruise_cancel_allowed_during_pedal_override(controls_allowed
   pedal_packer = CANPacker("hyundai_kia_ray_pedal")
   addr, dat, bus = create_gas_interceptor_command(pedal_packer, 0.1, 3)
   assert not safety.safety_tx_hook(libsafety_py.make_CANPacket(addr, bus, dat))
+
+
+def test_ray_standstill_launch_obeys_hardware_brake_override():
+  safety = libsafety_py.libsafety
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0x9405)
+  safety.init_tests()
+  packer = CANPacker("hyundai_can_refresh_generated")
+  pedal_packer = CANPacker("hyundai_kia_ray_pedal")
+
+  def rx(name, values):
+    addr, dat, bus = checksum(packer.make_can_msg(name, 0, values))
+    assert safety.safety_rx_hook(libsafety_py.make_CANPacket(addr, bus, dat))
+
+  def tx(gas):
+    addr, dat, bus = create_gas_interceptor_command(pedal_packer, gas, 0)
+    return safety.safety_tx_hook(libsafety_py.make_CANPacket(addr, bus, dat))
+
+  rx("WHL_SPD11", {"WHL_SPD_FL": 0, "WHL_SPD_RR": 0})
+  assert not safety.get_vehicle_moving()
+  rx("TCS13", {"DriverOverride": 2})
+  safety.set_controls_allowed(True)
+  assert safety.get_brake_pressed_prev()
+  assert tx(0)
+  assert not tx(0.012)
+  rx("TCS13", {"DriverOverride": 0})
+  assert not safety.get_brake_pressed_prev()
+  assert tx(0.012)
+  rx("TCS13", {"DriverOverride": 2})
+  assert not tx(0.012)
+  assert tx(0)