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Hyundai: use EV/hybrid car lists for ELECT gear signal (#30009)

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* remove duplicate hybrid/ev list

* test
old-commit-hash: 2ebf0b186e76e0027098fb0e39980760f38723f3
This commit is contained in:
Shane Smiskol
2023-09-22 21:52:29 -07:00
committed by GitHub
parent a65199b555
commit 78464b1d86
3 changed files with 13 additions and 13 deletions
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selfdrive/car/hyundai/carstate.py
+6 -6
View File
@@ -132,12 +132,12 @@ class CarState(CarStateBase):
# Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
# as this seems to be standard over all cars, but is not the preferred method.
if self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
gear = cp.vl["CLU15"]["CF_Clu_Gear"]
elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
gear = cp.vl["TCU12"]["CUR_GR"]
elif self.CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
else:
gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
@@ -285,12 +285,12 @@ class CarState(CarStateBase):
("EMS16", 100),
]
if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
messages.append(("ELECT_GEAR", 20))
elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
pass
elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
messages.append(("TCU12", 100))
elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
messages.append(("ELECT_GEAR", 20))
else:
messages.append(("LVR12", 100))
selfdrive/car/hyundai/tests/test_hyundai.py
+6 -2
View File
@@ -5,7 +5,7 @@ import unittest
from cereal import car
from openpilot.selfdrive.car.fw_versions import build_fw_dict
from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, get_platform_codes
Ecu = car.CarParams.Ecu
@@ -37,7 +37,11 @@ NO_DATES_PLATFORMS = {
class TestHyundaiFingerprint(unittest.TestCase):
def test_canfd_not_in_can_features(self):
def test_can_features(self):
# Test no EV/HEV in any gear lists (should all use ELECT_GEAR)
self.assertEqual(set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR), set())
# Test CAN FD car not in CAN feature lists
can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR)
for car_model in CANFD_CAR:
self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
selfdrive/car/hyundai/values.py
+1 -5
View File
@@ -2014,13 +2014,9 @@ CHECKSUM = {
}
CAN_GEARS = {
# which message has the gear
# which message has the gear. hybrid and EV use ELECT_GEAR
"use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
"use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
"use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.IONIQ_EV_LTD,
CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID,
CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019,
CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020, CAR.AZERA_HEV_6TH_GEN},
}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,