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ev9

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firestar5683
2026-06-29 12:03:58 -05:00
parent a21520fa8f
commit ce989294ab
2 changed files with 67 additions and 18 deletions
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opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
-9
View File
@@ -145,15 +145,6 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
"DAMP_FACTOR": 100,
"HAS_LANE_SAFETY": 0,
})
elif lkas_base_values:
for signal in ("LKA_MODE", "LKA_AVAILABLE", "LKA_WARNING", "LKA_ICON", "FCA_SYSWARN",
"LFA_BUTTON", "LKA_ASSIST", "DAMP_FACTOR", "HAS_LANE_SAFETY"):
if signal in lkas_base_values:
lkas_values[signal] = lkas_base_values[signal]
lkas_values.update({
"TORQUE_REQUEST": 0,
"STEER_REQ": 0,
})
else:
lkas_values.update({
"LKA_MODE": 0,
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+67 -9
View File
@@ -1441,6 +1441,64 @@ class TestHyundaiFingerprint:
assert parser.vl["LKAS_ALT"]["STEER_MODE"] == 2
assert parser.vl["LKAS_ALT"]["NEW_SIGNAL_2"] == 3
def test_ev9_inactive_angle_status_clears_stock_warning_bits(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.KIA_EV9
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING |
HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.CANFD_LKA_STEERING_ALT)
CP.openpilotLongitudinalControl = False
controller = CarController(DBC[CP.carFingerprint], CP)
can_bus = CanBus(CP)
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
cc = SimpleNamespace(enabled=False, latActive=False, 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
stock_lkas = {
"CHECKSUM": 1234,
"COUNTER": 42,
"LKA_MODE": 0,
"LKA_AVAILABLE": 0,
"LKA_WARNING": 0,
"LKA_ICON": 0,
"FCA_SYSWARN": 1,
"TORQUE_REQUEST": 0,
"STEER_REQ": 0,
"LFA_BUTTON": 0,
"LKA_ASSIST": 1,
"STEER_MODE": 5,
"NEW_SIGNAL_2": 0,
"LKAS_ANGLE_ACTIVE": 1,
"HAS_LANE_SAFETY": 0,
"ADAS_StrAnglReqVal": 10.5,
"ADAS_ACIAnglTqRedcGainVal": 0.0,
"DAMP_FACTOR": 0,
}
cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg=stock_lkas, lfa_block_msg=lfa_block_msg,
out=SimpleNamespace(steeringAngleDeg=10.5))
msgs = controller.create_canfd_msgs(0, False, 0.0, 10.5, 0.0, 0.0, False, cc.hudControl, cs, cc,
get_test_toggles(), lka_icon=1, lfa_icon=1)
lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
assert len(lkas_msgs) == 1
parser.update([(1, lkas_msgs)])
assert parser.can_valid
assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1
assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.0)
assert parser.vl["LKAS_ALT"]["ADAS_StrAnglReqVal"] == pytest.approx(10.5)
assert parser.vl["LKAS_ALT"]["LKA_MODE"] == 0
assert parser.vl["LKAS_ALT"]["LKA_AVAILABLE"] == 0
assert parser.vl["LKAS_ALT"]["LKA_WARNING"] == 0
assert parser.vl["LKAS_ALT"]["LKA_ICON"] == 1
assert parser.vl["LKAS_ALT"]["FCA_SYSWARN"] == 0
assert parser.vl["LKAS_ALT"]["LFA_BUTTON"] == 0
assert parser.vl["LKAS_ALT"]["LKA_ASSIST"] == 0
assert parser.vl["LKAS_ALT"]["DAMP_FACTOR"] == pytest.approx(100.0)
assert parser.vl["LKAS_ALT"]["HAS_LANE_SAFETY"] == 0
def test_ev9_inactive_angle_steering_still_suppresses_stock_lfa(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.KIA_EV9
@@ -1871,7 +1929,7 @@ class TestHyundaiFingerprint:
assert parser.vl["LKAS_ALT"]["ADAS_StrAnglReqVal"] == pytest.approx(-31.5)
assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.44)
def test_ev9_angle_lkas_alt_preserves_stock_status_when_inactive(self):
def test_ev9_angle_lkas_alt_clears_stock_status_when_inactive(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.KIA_EV9
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING |
@@ -1910,18 +1968,18 @@ class TestHyundaiFingerprint:
parser.update([(1, lkas_msgs)])
assert parser.can_valid
assert parser.vl["LKAS_ALT"]["LKA_MODE"] == 2
assert parser.vl["LKAS_ALT"]["LKA_AVAILABLE"] == 3
assert parser.vl["LKAS_ALT"]["LKA_WARNING"] == 1
assert parser.vl["LKAS_ALT"]["LKA_MODE"] == 0
assert parser.vl["LKAS_ALT"]["LKA_AVAILABLE"] == 0
assert parser.vl["LKAS_ALT"]["LKA_WARNING"] == 0
assert parser.vl["LKAS_ALT"]["LKA_ICON"] == 1
assert parser.vl["LKAS_ALT"]["FCA_SYSWARN"] == 1
assert parser.vl["LKAS_ALT"]["FCA_SYSWARN"] == 0
assert parser.vl["LKAS_ALT"]["TORQUE_REQUEST"] == 0
assert parser.vl["LKAS_ALT"]["STEER_REQ"] == 0
assert parser.vl["LKAS_ALT"]["LFA_BUTTON"] == 1
assert parser.vl["LKAS_ALT"]["LKA_ASSIST"] == 1
assert parser.vl["LKAS_ALT"]["DAMP_FACTOR"] == 0
assert parser.vl["LKAS_ALT"]["LFA_BUTTON"] == 0
assert parser.vl["LKAS_ALT"]["LKA_ASSIST"] == 0
assert parser.vl["LKAS_ALT"]["DAMP_FACTOR"] == pytest.approx(100.0)
assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1
assert parser.vl["LKAS_ALT"]["HAS_LANE_SAFETY"] == 1
assert parser.vl["LKAS_ALT"]["HAS_LANE_SAFETY"] == 0
assert parser.vl["LKAS_ALT"]["ADAS_StrAnglReqVal"] == pytest.approx(-31.5)
assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.0)