diff --git a/cereal/libsocketmaster.a b/cereal/libsocketmaster.a index 0ad5777f1..2e96a6a3f 100644 Binary files a/cereal/libsocketmaster.a and b/cereal/libsocketmaster.a differ diff --git a/common/libcommon.a b/common/libcommon.a index b45de2de6..c3bcb4bc2 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_keys.h b/common/params_keys.h index c7c2e2005..f92a78f8b 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -62,7 +62,6 @@ inline static std::unordered_map keys = { {"GsmRoaming", {PERSISTENT, BOOL}}, {"HardwareSerial", {PERSISTENT, STRING}}, {"HasAcceptedTerms", {PERSISTENT, STRING, "0"}}, - {"HyundaiLkasAolPending", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}}, {"HondaGasFactorParams", {PERSISTENT, FLOAT}}, {"HondaLateralPidKiScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}}, {"HondaLateralPidKpScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}}, diff --git a/opendbc_repo/opendbc/car/hyundai/values.py b/opendbc_repo/opendbc/car/hyundai/values.py index b27acf48f..57456969e 100644 --- a/opendbc_repo/opendbc/car/hyundai/values.py +++ b/opendbc_repo/opendbc/car/hyundai/values.py @@ -111,7 +111,6 @@ class HyundaiSafetyFlags(IntFlag): class HyundaiStarPilotSafetyFlags(IntFlag): - AOL_LKAS_ON_INIT = 128 AOL_MAIN_LKAS_SYNC = 32 HAS_LDA_BUTTON = 1024 AOL_LKAS_ON_ENGAGE = 2048 diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_common.h b/opendbc_repo/opendbc/safety/modes/hyundai_common.h index 081e7ef86..5487a9765 100644 --- a/opendbc_repo/opendbc/safety/modes/hyundai_common.h +++ b/opendbc_repo/opendbc/safety/modes/hyundai_common.h @@ -77,7 +77,6 @@ void hyundai_common_init(uint16_t param) { const uint16_t HYUNDAI_PARAM_FCEV_GAS = 256; const uint16_t HYUNDAI_PARAM_ALT_LIMITS_2 = 512; - const uint16_t HYUNDAI_PARAM_AOL_LKAS_ON_INIT = 128; const int HYUNDAI_PARAM_HAS_LDA_BUTTON = 1024; const uint16_t HYUNDAI_PARAM_AOL_LKAS_ON_ENGAGE = 2048; const uint16_t HYUNDAI_PARAM_NON_SCC = 4096; @@ -101,10 +100,6 @@ void hyundai_common_init(uint16_t param) { hyundai_can_refresh_msgs = GET_FLAG(param, HYUNDAI_PARAM_CAN_REFRESH_MSGS); hyundai_aol_main_lkas_sync = false; - if (GET_FLAG(param, HYUNDAI_PARAM_AOL_LKAS_ON_INIT)) { - lkas_on = true; - } - hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES; acc_main_on_prev = false; acc_main_on_tx = false; diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai.py b/opendbc_repo/opendbc/safety/tests/test_hyundai.py index bad73bdbf..a565bff49 100755 --- a/opendbc_repo/opendbc/safety/tests/test_hyundai.py +++ b/opendbc_repo/opendbc/safety/tests/test_hyundai.py @@ -572,21 +572,6 @@ class TestHyundaiAolLkasOnEngageStockSafety(HyundaiAolLkasOnEngageStockBase, Tes self.safety.init_tests() -class TestHyundaiAolLkasOnInitSafety(TestHyundaiSafety): - def setUp(self): - self.packer = CANPackerSafety("hyundai_kia_generic") - self.safety = libsafety_py.libsafety - self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_INIT) - self.safety.init_tests() - - def test_pending_lkas_press_allows_aol_after_safety_init(self): - self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL) - self._rx(self._button_msg(Buttons.NONE)) - - self.assertTrue(self.safety.get_lkas_on()) - self.assertTrue(self.safety.get_aol_allowed()) - - class TestHyundaiAolMainLkasSyncSafety(TestHyundaiSafety): def setUp(self): self.packer = CANPackerSafety("hyundai_kia_generic") diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index f55dfda55..bdf0399b8 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-730ba6e1-DEBUG"; +const uint8_t gitversion[19] = "DEV-1a56ccbd-DEBUG"; diff --git a/panda/board/obj/version b/panda/board/obj/version index 8d9838a52..9b68111f5 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-730ba6e1-DEBUG \ No newline at end of file +DEV-1a56ccbd-DEBUG \ No newline at end of file diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 2d48958c2..9e43863f6 100644 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -39,12 +39,6 @@ from openpilot.starpilot.controls.starpilot_card import StarPilotCard REPLAY = "REPLAY" in os.environ OPENPILOT_LEAD_MIN_DISTANCE = 0.1 REDNECK_DECREASE_LOOKAHEAD_POINTS = 10 -HYUNDAI_SAFETY_MODELS = { - int(structs.CarParams.SafetyModel.hyundai), - int(structs.CarParams.SafetyModel.hyundaiCanfd), - int(structs.CarParams.SafetyModel.hyundaiLegacy), -} - EventName = log.OnroadEvent.EventName # forward @@ -205,8 +199,6 @@ class Car: self.rk = Ratekeeper(100, print_delay_threshold=None) self.resume_prev_button = False - self.hyundai_lkas_aol_pending = False - self.starpilot_toggles = get_starpilot_toggles(read_persisted_force_params=True) self.FPCP.alternativeExperience |= interface_alternative_experience @@ -329,31 +321,8 @@ class Car: self.resume_prev_button = False FPCS = self.starpilot_card.update(CS, FPCS, self.sm, self.starpilot_toggles) - self._latch_pre_safety_hyundai_lkas_button(CS) - return CS, RD, FPCS - def _hyundai_safety_active(self) -> bool: - if not self.sm.seen['pandaStates'] or not self.sm.valid['pandaStates']: - return False - - panda_states = self.sm['pandaStates'] - return any( - int(getattr(state.safetyModel, "raw", state.safetyModel)) in HYUNDAI_SAFETY_MODELS - for state in panda_states - ) - - def _latch_pre_safety_hyundai_lkas_button(self, CS: car.CarState) -> None: - if self.CP.brand != "hyundai" or not getattr(self.starpilot_toggles, "always_on_lateral_lkas", False): - return - if self.hyundai_lkas_aol_pending or self._hyundai_safety_active() or not any( - button.type == ButtonType.lkas and button.pressed for button in CS.buttonEvents - ): - return - - self.hyundai_lkas_aol_pending = True - self.params.put_bool_nonblocking("HyundaiLkasAolPending", True) - def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None, FPCS: custom.StarPilotCarState): """carState and carParams publish loop""" diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc index 4d74f752d..0e496f474 100644 --- a/selfdrive/pandad/panda_safety.cc +++ b/selfdrive/pandad/panda_safety.cc @@ -2,8 +2,6 @@ #include "cereal/messaging/messaging.h" #include "common/swaglog.h" -static constexpr uint16_t HYUNDAI_AOL_LKAS_ON_INIT = 128U; - void PandaSafety::configureSafetyMode(bool is_onroad) { if (is_onroad && !safety_configured_) { updateMultiplexingMode(); @@ -75,11 +73,6 @@ void PandaSafety::setSafetyMode(const std::string ¶ms_string) { auto starpilot_safety_configs = starpilot_car_params.getSafetyConfigs(); alternative_experience |= starpilot_car_params.getAlternativeExperience(); - const bool hyundai_lkas_aol_pending = params_.getBool("HyundaiLkasAolPending"); - if (hyundai_lkas_aol_pending) { - params_.putBool("HyundaiLkasAolPending", false); - } - for (int i = 0; i < pandas_.size(); ++i) { // Default to SILENT safety model if not specified cereal::CarParams::SafetyModel safety_model = cereal::CarParams::SafetyModel::SILENT; @@ -93,13 +86,6 @@ void PandaSafety::setSafetyMode(const std::string ¶ms_string) { safety_param |= starpilot_safety_configs[i].getSafetyParam(); } - const bool hyundai_safety = safety_model == cereal::CarParams::SafetyModel::HYUNDAI || - safety_model == cereal::CarParams::SafetyModel::HYUNDAI_CANFD || - safety_model == cereal::CarParams::SafetyModel::HYUNDAI_LEGACY; - if (hyundai_lkas_aol_pending && hyundai_safety) { - safety_param |= HYUNDAI_AOL_LKAS_ON_INIT; - } - LOGW("Panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience); pandas_[i]->set_alternative_experience(alternative_experience); pandas_[i]->set_safety_model(safety_model, safety_param); diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index f5caf3a87..b6bff54ac 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ