Hyundai: hotfix platform-specific control status

2026-09-11 18:53:47 +08:00 · 2026-09-10 20:45:47 -05:00
parent 79b791a26b
commit ac3fb6a4d8
8 changed files with 137 additions and 31 deletions
@@ -10,8 +10,9 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_an
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, HyundaiSafetyFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
-                                        CANFD_RADAR_LIVE_LONGITUDINAL_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
+from opendbc.car.hyundai.values import HyundaiFlags, HyundaiSafetyFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, \
+                                        CANFD_ANGLE_LONGITUDINAL_CAR, CANFD_RADAR_ECU_KEEPALIVE_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, \
+                                        kia_ev6_gt_line_longitudinal_tuning, \
                                        KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.vehicle_model import VehicleModel
@@ -859,10 +860,9 @@ class CarController(CarControllerBase):
    can_sends = []

    lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
-    longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
-    lfa_status_cars = (CAR.HYUNDAI_IONIQ_6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, CAR.KIA_EV6)
+    persistent_lfa_status_cars = (CAR.HYUNDAI_IONIQ_6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, CAR.KIA_EV6)
    lfa_longitudinal_active = self.CP.openpilotLongitudinalControl \
-      if self.CP.carFingerprint in lfa_status_cars else longitudinal_active
+      if self.CP.carFingerprint in persistent_lfa_status_cars else self.long_active_ecu
    lka_steering_long = lka_steering and lfa_longitudinal_active
    ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
    use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
@@ -889,11 +889,10 @@ class CarController(CarControllerBase):

    gear = getattr(getattr(CS, "out", None), "gearShifter", None)
    drive_gear = gear == structs.CarState.GearShifter.drive
-    if angle_lkas_alt:
+    if angle_lkas_alt and self.CP.carFingerprint != CAR.KIA_SPORTAGE_HEV_2026:
      steering_msg_active = bool(steering_msg_active and drive_gear)
    angle_lkas_alt_standstill_handoff = bool(getattr(CS.out, "standstill", False) and not CC.latActive)
-    forward_stock_lkas = (self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR or
-                          self.CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026) and angle_lkas_alt and (
+    forward_stock_lkas = self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR and angle_lkas_alt and (
      angle_lkas_alt_standstill_handoff or not (drive_gear and (CC.latActive or CC.enabled))
    )
    preserve_stock_lfa_status = preserve_stock_canfd_lfa_status(self.CP.carFingerprint)
@@ -920,7 +919,7 @@ class CarController(CarControllerBase):

    # prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
    suppress_lfa = bool(lka_steering)
-    if angle_lkas_alt:
+    if angle_lkas_alt and self.CP.carFingerprint != CAR.KIA_SPORTAGE_HEV_2026:
      suppress_lfa = bool(lka_steering and drive_gear and (CC.latActive or (ccnc_angle_long and CC.enabled)))
    if self.frame % 5 == 0 and suppress_lfa:
      can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
@@ -995,7 +994,7 @@ class CarController(CarControllerBase):
        # The front radar treats ADAS_DRV's 0x100 broadcast as its host heartbeat
        # and stops publishing object tracks when it disappears.
        radar_heartbeat_step = 1 if ccnc_angle_long else 4
-        if self.CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR and self.frame % radar_heartbeat_step == 0:
+        if self.CP.carFingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR and self.frame % radar_heartbeat_step == 0:
          can_sends.append(hyundaicanfd.create_accelerator_brake_alt_spoof(0, self.frame // radar_heartbeat_step,
                                                                            CS.out.brakePressed, CS.out.gasPressed,
                                                                            self.CP.carFingerprint))
@@ -142,7 +142,21 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
    lkas_values["LKAS_ANGLE_ACTIVE"] = 2 if lat_active else 1
    lkas_values["ADAS_ACIAnglTqRedcGainVal"] = apply_torque if lat_active else 0.0
    if angle_lkas_alt:
-      if lat_active:
+      if CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026:
+        lkas_values = {
+          "LKA_OptUsmSta": 0,
+          "LKA_SysIndReq": 2 if enabled else 1,
+          "StrTqReqVal": 0,
+          "LKA_SysWrn": 0,
+          "ActToiSta": 0,
+          "LKA_UsmMod": 0,
+          "LKA_RcgSta": 3 if lat_active else 0,
+          "Damping_Gain": 100,
+          "ADAS_StrAnglReqVal": apply_angle,
+          "LKAS_ANGLE_ACTIVE": 2 if lat_active else 1,
+          "ADAS_ACIAnglTqRedcGainVal": apply_torque if lat_active else 0.0,
+        }
+      elif lat_active:
        lkas_values = {
          "LKA_OptUsmSta": 0,
          "LKA_RcgSta": 3,
@@ -7,7 +7,7 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                   CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
                                                   CANFD_SECURITYACCESS_CAR, \
                                                   CANFD_ANGLE_LONGITUDINAL_CAR, \
-                                                   CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
+                                                   CANFD_RADAR_ECU_KEEPALIVE_CAR, \
                                                   RADAR_LIVE_LONGITUDINAL_CAR, \
                                                   UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
                                                   LEGACY_LONGITUDINAL_CAR, \
@@ -29,7 +29,7 @@ Ecu = structs.CarParams.Ecu


 def get_communication_control_request(car_fingerprint):
-  if car_fingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR and car_fingerprint != CAR.KIA_EV6:
+  if car_fingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR:
    return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX,
                  uds.MESSAGE_TYPE.NORMAL])

@@ -129,12 +129,17 @@ def get_test_toggles() -> SimpleNamespace:


 class TestHyundaiFingerprint:
-  def test_ev6_uses_stock_hda2_communication_control_path(self):
+  @pytest.mark.parametrize("car", [
+    CAR.HYUNDAI_IONIQ_5,
+    CAR.KIA_EV6,
+    CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+  ])
+  def test_hda2_cars_without_radar_keepalive_use_stock_communication_control(self, car):
    stock_request = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x83, uds.MESSAGE_TYPE.NORMAL])
    radar_keepalive_request = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL,
                                     uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])

-    assert get_communication_control_request(CAR.KIA_EV6) == stock_request
+    assert get_communication_control_request(car) == stock_request
    assert get_communication_control_request(CAR.HYUNDAI_IONIQ_6) == radar_keepalive_request

  def test_carnival_hev_low_speed_torque_rate_limits(self):
@@ -2560,7 +2565,7 @@ class TestHyundaiFingerprint:
                      if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")]
    assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]

-  @pytest.mark.parametrize("car", [CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6])
+  @pytest.mark.parametrize("car", [CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN])
  def test_egmp_keeps_lfa_status_when_longitudinal_is_inactive(self, car):
    CP = CarParams.new_message()
    CP.carFingerprint = car
@@ -2584,6 +2589,38 @@ class TestHyundaiFingerprint:
                                        cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1)
    assert any(addr == 0x12A for addr, _, _ in msgs)

+  @pytest.mark.parametrize(("car", "powertrain_flag"), [
+    (CAR.HYUNDAI_IONIQ_5, HyundaiFlags.EV),
+    (CAR.KIA_CARNIVAL_2025, 0),
+    (CAR.KIA_CARNIVAL_HEV_4TH_GEN, HyundaiFlags.HYBRID),
+  ])
+  def test_hda2_keeps_lfa_status_while_longitudinal_ecu_is_disabled(self, car, powertrain_flag):
+    CP = CarParams.new_message()
+    CP.carFingerprint = car
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | powertrain_flag)
+    CP.openpilotLongitudinalControl = True
+
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 1
+    controller.long_active_ecu = True
+    cc = SimpleNamespace(
+      enabled=False, latActive=False, longActive=False,
+      actuators=SimpleNamespace(longControlState=LongCtrlState.off),
+      leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace(),
+    )
+    cs = SimpleNamespace(
+      stock_lfa_msg=None, stock_lkas_msg=None,
+      left_blindspot_from_radar=False, right_blindspot_from_radar=False,
+      out=SimpleNamespace(
+        brakePressed=False, gasPressed=False,
+        gearShifter=structs.CarState.GearShifter.park,
+      ),
+    )
+
+    msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False,
+                                        cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1)
+    assert any(addr == 0x12A for addr, _, _ in msgs)
+
  def test_gv70_electrified_longitudinal_uses_hda2_scc_contract(self):
    CP = CarParams.new_message()
    CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
@@ -2716,7 +2753,7 @@ class TestHyundaiFingerprint:
    assert len([msg for msg in msgs if msg[0] == 0x110]) == expected_lkas_msgs

  @pytest.mark.parametrize("standstill", [False, True])
-  def test_sportage_angle_lkas_alt_forwards_stock_status_when_inactive(self, standstill):
+  def test_sportage_angle_lkas_alt_keeps_status_and_suppression_alive(self, standstill):
    CP = CarParams.new_message()
    CP.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.HYBRID | HyundaiFlags.CANFD_ANGLE_STEERING |
@@ -2724,16 +2761,67 @@ class TestHyundaiFingerprint:
    CP.openpilotLongitudinalControl = False

    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 5
+    can_bus = CanBus(CP)
    cc = SimpleNamespace(enabled=False, latActive=False,
                         actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                         leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
-    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={},
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg=lfa_block_msg,
                         out=SimpleNamespace(standstill=standstill, steeringAngleDeg=0.0,
                                             gearShifter=structs.CarState.GearShifter.drive))

    msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
                                        get_test_toggles(), lka_icon=1, lfa_icon=1)
-    assert not [msg for msg in msgs if msg[0] in (0x110, 0x12A)]
+    lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
+    assert len(lkas_msgs) == 1
+    assert len([msg for msg in msgs if msg[0] == 0x362]) == 1
+
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
+    parser.update([(1, lkas_msgs)])
+    assert parser.can_valid
+    assert parser.vl["LKAS_ALT"]["LKA_OptUsmSta"] == 0
+    assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 1
+    assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 0
+    assert parser.vl["LKAS_ALT"]["Damping_Gain"] == 100
+    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1
+    assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == 0.0
+
+  def test_sportage_angle_lkas_alt_active_status_matches_vehicle_contract(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.HYBRID | HyundaiFlags.CANFD_ANGLE_STEERING |
+                   HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.CANFD_LKA_STEERING_ALT)
+    CP.openpilotLongitudinalControl = False
+
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 5
+    can_bus = CanBus(CP)
+    cc = SimpleNamespace(enabled=True, latActive=True,
+                         actuators=SimpleNamespace(longControlState=LongCtrlState.off),
+                         leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg=lfa_block_msg,
+                         out=SimpleNamespace(standstill=False, steeringAngleDeg=10.0,
+                                             gearShifter=structs.CarState.GearShifter.drive))
+
+    msgs = controller.create_canfd_msgs(0, True, 0.4, 12.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
+                                        get_test_toggles(), lka_icon=2, lfa_icon=2)
+    lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
+    assert len(lkas_msgs) == 1
+    assert len([msg for msg in msgs if msg[0] == 0x362]) == 1
+
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
+    parser.update([(1, lkas_msgs)])
+    assert parser.can_valid
+    assert parser.vl["LKAS_ALT"]["LKA_OptUsmSta"] == 0
+    assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 2
+    assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 3
+    assert parser.vl["LKAS_ALT"]["Damping_Gain"] == 100
+    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 2
+    assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.4)

  def test_ev9_inactive_angle_steering_does_not_suppress_stock_lfa(self):
    CP = CarParams.new_message()
@@ -1218,6 +1218,13 @@ CANFD_ALT_BUTTONS_RESUME_CAR = {CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_
 CANFD_CORNER_RADAR_BSM_CAR = {CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9}
 CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {
  CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_5_PE, CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.KIA_EV9, CAR.GENESIS_GV60_EV_1ST_GEN,
+  CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+}
+CANFD_RADAR_ECU_KEEPALIVE_CAR = {
+  CAR.HYUNDAI_IONIQ_5_PE,
+  CAR.HYUNDAI_IONIQ_6,
+  CAR.KIA_EV9,
+  CAR.GENESIS_GV60_EV_1ST_GEN,
 }
 RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {
  CAR.HYUNDAI_IONIQ,
@@ -404,7 +404,6 @@ class Controls:
    self.turn_blinker_swept = 0.0
    self.twitch_guard_remaining = 0.0
    self.kona_non_scc_lateral_active = False
-    self.kona_non_scc_lateral_faulted = False
    self.elantra_hev_2024_lateral_faulted = False
    self.elantra_hev_2024_previous_cruise_enabled = False

@@ -504,11 +503,6 @@ class Controls:
    standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
    if self.CP.carFingerprint == HYUNDAI_CAR.HYUNDAI_KONA_NON_SCC:
      always_on_lateral_enabled = self.sm['starpilotCarState'].alwaysOnLateralEnabled
-      lateral_requested = (CC.enabled and self.sm['selfdriveState'].active) or always_on_lateral_enabled
-      if not lateral_requested:
-        self.kona_non_scc_lateral_faulted = False
-      elif CS.steerFaultTemporary:
-        self.kona_non_scc_lateral_faulted = True
      CC.latActive = get_kona_non_scc_lateral_active(
        CC.enabled, self.sm['selfdriveState'].active,
        always_on_lateral_enabled,
@@ -516,7 +510,6 @@ class Controls:
        standstill, self.CP.steerAtStandstill,
        self.sm['starpilotPlan'].lateralCheck,
        CS.steeringPressed, self.kona_non_scc_lateral_active,
-        self.kona_non_scc_lateral_faulted,
      )
      self.kona_non_scc_lateral_active = CC.latActive
    elif self.CP.carFingerprint == HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024:
@@ -89,13 +89,12 @@ def update_lateral_fault_latch(previous_latched: bool, lateral_requested: bool,
 def get_kona_non_scc_lateral_active(enabled: bool, active: bool, always_on_lateral_enabled: bool,
                                    steer_fault_temporary: bool, steer_fault_permanent: bool,
                                    standstill: bool, steer_at_standstill: bool, lateral_check: bool,
-                                    steering_pressed: bool, previous_lateral_active: bool,
-                                    steer_fault_latched: bool = False) -> bool:
+                                    steering_pressed: bool, previous_lateral_active: bool) -> bool:
  """Avoid the Kona EPS torque fault when AOL is enabled over driver steering input."""
  lateral_active = get_lateral_active(enabled, active, always_on_lateral_enabled,
                                      steer_fault_temporary, steer_fault_permanent,
                                      standstill, steer_at_standstill, lateral_check)
-  if not lateral_active or steer_fault_latched:
+  if not lateral_active:
    return False

  aol_rising_edge = always_on_lateral_enabled and not enabled and not previous_lateral_active
@@ -35,9 +35,15 @@ def test_kona_non_scc_aol_gate_does_not_change_fault_or_normal_lateral_gates():
  )


-def test_kona_non_scc_does_not_retry_after_a_latched_temporary_fault():
+def test_kona_non_scc_recovers_after_temporary_fault_clears():
  assert not get_kona_non_scc_lateral_active(
-    False, False, True, False, False, False, False, True, False, False, True,
+    False, False, True, True, False, False, False, True, False, True,
+  )
+  assert not get_kona_non_scc_lateral_active(
+    False, False, True, False, False, False, False, True, True, False,
+  )
+  assert get_kona_non_scc_lateral_active(
+    False, False, True, False, False, False, False, True, False, False,
  )