XCeeding expectations

2026-08-17 06:13:52 +08:00 · 2026-06-13 20:46:30 -05:00
parent 4c1317e30d
commit 4ee6758b9f
6 changed files with 78 additions and 15 deletions
@@ -7,6 +7,7 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                   CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
                                                   RADAR_LIVE_LONGITUDINAL_CAR, \
                                                   UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
+                                                   LEGACY_LONGITUDINAL_CAR, \
                                                   HyundaiStarPilotSafetyFlags, \
                                                   hyundai_cancel_button_enables_cruise
 from opendbc.car.hyundai.radar_interface import get_radar_track_config, radar_tracks_available
@@ -139,7 +140,7 @@ class CarInterface(CarInterfaceBase):

    else:
      # Shared configuration for non CAN-FD cars
-      ret.alphaLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR
+      ret.alphaLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR or candidate in LEGACY_LONGITUDINAL_CAR
      ret.enableBsm = 0x58b in fingerprint[CAN.ECAN]

      # Send LFA message on cars with HDA
@@ -19,7 +19,7 @@ from opendbc.car.hyundai.radar_interface import MRREVO14F_RADAR_START_ADDR, MRR3
 from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
                                         HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                         UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
-                                         CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, \
+                                         LEGACY_LONGITUDINAL_CAR, CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, \
                                         HyundaiStarPilotSafetyFlags, Buttons

 LongCtrlState = CarControl.Actuators.LongControlState
@@ -131,6 +131,7 @@ class TestHyundaiFingerprint:
      CAR.HYUNDAI_SANTA_FE_PHEV_2022,
      CAR.HYUNDAI_SONATA,
      CAR.HYUNDAI_SONATA_HYBRID,
+      CAR.KIA_XCEED_PHEV,
      CAR.KIA_K5_HEV_2020,
      CAR.KIA_NIRO_EV,
      CAR.KIA_NIRO_PHEV,
@@ -152,7 +153,7 @@ class TestHyundaiFingerprint:

    fingerprint = gen_empty_fingerprint()
    fingerprint[1][RADAR_START_ADDR] = 8
-    for candidate in (CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SONATA_HYBRID, CAR.GENESIS_G90):
+    for candidate in (CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SONATA_HYBRID, CAR.KIA_XCEED_PHEV, CAR.GENESIS_G90):
      CP = CarInterface.get_params(candidate, fingerprint, [], True, False, False, None)
      assert CP.openpilotLongitudinalControl
      assert not CP.radarUnavailable
@@ -468,6 +469,54 @@ class TestHyundaiFingerprint:
    assert CP.pcmCruise
    assert not (CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG)

+  def test_xceed_phev_alpha_long_is_isolated_legacy_experiment(self):
+    toggles = get_test_toggles()
+
+    ceed = CarInterface.get_params(CAR.KIA_CEED, gen_empty_fingerprint(), [], True, False, False, toggles)
+    assert CAR.KIA_CEED not in LEGACY_LONGITUDINAL_CAR
+    assert not ceed.alphaLongitudinalAvailable
+    assert not ceed.openpilotLongitudinalControl
+    assert ceed.pcmCruise
+    assert ceed.safetyConfigs[-1].safetyModel == CarParams.SafetyModel.hyundaiLegacy
+    assert not (ceed.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG)
+
+    stock_xceed = CarInterface.get_params(CAR.KIA_XCEED_PHEV, gen_empty_fingerprint(), [], False, False, False, toggles)
+    assert CAR.KIA_XCEED_PHEV in LEGACY_LONGITUDINAL_CAR
+    assert stock_xceed.alphaLongitudinalAvailable
+    assert not stock_xceed.openpilotLongitudinalControl
+    assert stock_xceed.pcmCruise
+    assert stock_xceed.safetyConfigs[-1].safetyModel == CarParams.SafetyModel.hyundaiLegacy
+    assert stock_xceed.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.HYBRID_GAS
+    assert not (stock_xceed.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG)
+
+    long_xceed = CarInterface.get_params(CAR.KIA_XCEED_PHEV, gen_empty_fingerprint(), [], True, False, False, toggles)
+    assert long_xceed.alphaLongitudinalAvailable
+    assert long_xceed.openpilotLongitudinalControl
+    assert not long_xceed.pcmCruise
+    assert long_xceed.safetyConfigs[-1].safetyModel == CarParams.SafetyModel.hyundaiLegacy
+    assert long_xceed.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.HYBRID_GAS
+    assert long_xceed.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG
+
+  def test_xceed_phev_disable_failure_falls_back_to_stock_acc(self, monkeypatch):
+    toggles = get_test_toggles()
+    CP = CarInterface.get_params(CAR.KIA_XCEED_PHEV, gen_empty_fingerprint(), [], True, False, False, toggles)
+
+    called = {}
+
+    def fake_disable_ecu(*args, **kwargs):
+      called.update(kwargs)
+      return False
+
+    monkeypatch.setattr("opendbc.car.hyundai.interface.disable_ecu", fake_disable_ecu)
+    CarInterface.init(CP, None, None)
+
+    assert called["addr"] == 0x7d0
+    assert called["bus"] == 0
+    assert called["reset"] is False
+    assert not CP.openpilotLongitudinalControl
+    assert CP.pcmCruise
+    assert not (CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG)
+
  def test_canfd_longitudinal_params_match_family_tune(self):
    toggles = get_test_toggles()
    CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), [], True, False, False, toggles)
@@ -728,7 +728,7 @@ class CAR(Platforms):
  KIA_XCEED_PHEV = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia XCeed Plug-in Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_b]))],
    CarSpecs(mass=1650, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
-    flags=HyundaiFlags.LEGACY | HyundaiFlags.HYBRID,
+    flags=HyundaiFlags.LEGACY | HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR,
  )
  KIA_EV6 = HyundaiCanFDPlatformConfig(
    [
@@ -1126,6 +1126,7 @@ RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {
  CAR.HYUNDAI_SANTA_FE_PHEV_2022,
  CAR.HYUNDAI_SONATA,
  CAR.HYUNDAI_SONATA_HYBRID,
+  CAR.KIA_XCEED_PHEV,
  CAR.GENESIS_G90,
 }

@@ -1143,4 +1144,6 @@ NON_SCC_CAR = CAR.with_flags(HyundaiFlags.NON_SCC)
 #       HyundaiFlags.CANFD_RADAR_SCC | HyundaiFlags.CANFD_NO_RADAR_DISABLE | )
 UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)

+LEGACY_LONGITUDINAL_CAR = {CAR.KIA_XCEED_PHEV}
+
 DBC = CAR.create_dbc_map()
@@ -70,6 +70,13 @@ static const CanMsg HYUNDAI_TX_MSGS[] = {
  HYUNDAI_COMMON_TX_MSGS(0)
 };

+static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
+  HYUNDAI_LONG_COMMON_TX_MSGS(0)
+  {0x38D, 0, 8, .check_relay = false}, // FCA11 Bus 0
+  {0x483, 0, 8, .check_relay = false}, // FCA12 Bus 0
+  {0x7D0, 0, 8, .check_relay = false}, // radar UDS TX addr Bus 0 (for radar disable)
+};
+
 static bool hyundai_legacy = false;

 static uint8_t hyundai_get_counter(const CANPacket_t *msg) {
@@ -322,13 +329,6 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
 }

 static safety_config hyundai_init(uint16_t param) {
-  static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
-    HYUNDAI_LONG_COMMON_TX_MSGS(0)
-    {0x38D, 0, 8, .check_relay = false}, // FCA11 Bus 0
-    {0x483, 0, 8, .check_relay = false}, // FCA12 Bus 0
-    {0x7D0, 0, 8, .check_relay = false}, // radar UDS TX addr Bus 0 (for radar disable)
-  };
-
  static const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
    HYUNDAI_COMMON_TX_MSGS(2)
  };
@@ -556,9 +556,9 @@ static safety_config hyundai_legacy_init(uint16_t param) {

  hyundai_common_init(param);
  hyundai_legacy = true;
-  hyundai_longitudinal = false;
  hyundai_camera_scc = false;
-  return BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_TX_MSGS);
+  return hyundai_longitudinal ? BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_LONG_TX_MSGS) :
+                                BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_TX_MSGS);
 }

 const safety_hooks hyundai_hooks = {
@@ -984,7 +984,8 @@ class SafetyTest(SafetyTestBase):
              continue
            if {attr, current_test}.issubset({'TestHyundaiLongitudinalSafety', 'TestHyundaiLongitudinalSafetyCameraSCC',
                                              'TestHyundaiSafetyFCEVLong', 'TestHyundaiLongitudinalAolLkasOnEngageSafety',
-                                              'TestHyundaiCanCanfdBlendedLongitudinalSafety'}):
+                                              'TestHyundaiCanCanfdBlendedLongitudinalSafety',
+                                              'TestHyundaiLegacyLongitudinalSafetyHEV'}):
              continue
            volkswagen_shared = ('TestVolkswagenMqb', 'TestVolkswagenMlb')
            if attr.startswith(volkswagen_shared) and current_test.startswith(volkswagen_shared):
@@ -1017,7 +1018,8 @@ class SafetyTest(SafetyTestBase):

            if attr.startswith('TestHyundaiLongitudinal') or attr in ('TestHyundaiSafetyFCEVLong',
                                                                      'TestHyundaiLongitudinalAolLkasOnEngageSafety',
-                                                                      'TestHyundaiCanCanfdBlendedLongitudinalSafety'):
+                                                                      'TestHyundaiCanCanfdBlendedLongitudinalSafety',
+                                                                      'TestHyundaiLegacyLongitudinalSafetyHEV'):
              # exceptions for common msgs across different Hyundai CAN platforms
              tx = list(filter(lambda m: m[0] not in [0x420, 0x50A, 0x389, 0x4A2], tx))
            all_tx.append([[m[0], m[1], attr] for m in tx])
@@ -416,6 +416,14 @@ class TestHyundaiSafetyFCEVLong(TestHyundaiLongitudinalSafety, TestHyundaiSafety
    self.safety.init_tests()


+class TestHyundaiLegacyLongitudinalSafetyHEV(TestHyundaiLongitudinalSafety, TestHyundaiLegacySafetyHEV):
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.LONG)
+    self.safety.init_tests()
+
+
 class TestHyundaiLongitudinalAolLkasOnEngageSafety(HyundaiAolLkasOnEngageBase, TestHyundaiLongitudinalSafety):
  def setUp(self):
    self.packer = CANPackerSafety("hyundai_kia_generic")