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Agent Cody Banks

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This commit is contained in:
firestar5683
2026-06-17 23:29:00 -05:00
parent d17a4bd6cb
commit e6b12d612a
8 changed files with 134 additions and 12 deletions
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opendbc_repo/opendbc/car/gm/interface.py
+4
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@@ -520,6 +520,10 @@ class CarInterface(CarInterfaceBase):
ret.minEnableSpeed = -1.
if candidate == CAR.CHEVROLET_BLAZER:
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
ret.stoppingDecelRate = 1.2
ret.vEgoStopping = 0.35
ret.vEgoStarting = 0.35
ret.stopAccel = -0.40
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_BABYENCLAVE:
opendbc_repo/opendbc/car/gm/tests/test_gm.py
+21
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@@ -88,12 +88,15 @@ class TestGMInterface:
old_testing_ground = gm_interface.testing_ground
gm_interface.testing_ground = SimpleNamespace(use_2=True)
params = Params()
params.put_bool("GMPedalLongitudinal", True)
try:
car_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=False, is_release=False, docs=False,
starpilot_toggles=_test_starpilot_toggles())
finally:
gm_interface.testing_ground = old_testing_ground
params.remove("GMPedalLongitudinal")
if pedal_present:
assert list(car_params.longitudinalTuning.kpV) == pytest.approx([0.10, 0.072, 0.05, 0.04])
@@ -136,6 +139,22 @@ class TestGMInterface:
assert list(car_params.longitudinalTuning.kiBP) == pytest.approx([0.0, 5.0, 15.0, 35.0])
assert list(car_params.longitudinalTuning.kiV) == pytest.approx([0.28, 0.26, 0.20, 0.16])
def test_blazer_uses_earlier_stronger_low_speed_stop_tune(self):
CarInterface = interfaces[CAR.CHEVROLET_BLAZER]
fingerprint = _empty_fingerprint()
fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_BLAZER][0].copy()
fingerprint[0][0x2FF] = 8 # SASCM present so alpha-long can enable on this platform
car_params = CarInterface.get_params(CAR.CHEVROLET_BLAZER, fingerprint, [], alpha_long=True, is_release=False,
docs=False, starpilot_toggles=_test_starpilot_toggles())
assert car_params.openpilotLongitudinalControl
assert car_params.minEnableSpeed == pytest.approx(5 * CV.KPH_TO_MS)
assert car_params.stoppingDecelRate == pytest.approx(1.2)
assert car_params.vEgoStopping == pytest.approx(0.35)
assert car_params.vEgoStarting == pytest.approx(0.35)
assert car_params.stopAccel == pytest.approx(-0.40)
def test_volt_gateway_without_accel_pos_uses_brake_pedal_message(self):
CarInterface = interfaces[CAR.CHEVROLET_VOLT]
fingerprint = _empty_fingerprint()
@@ -213,10 +232,12 @@ class TestGMInterface:
params = Params()
toggles = _test_starpilot_toggles()
try:
params.put_bool("GMPedalLongitudinal", True)
params.put_bool("RemapCancelToDistance", True)
car_params = CarInterface.get_params(CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, fingerprint, [], alpha_long=False,
is_release=False, docs=False, starpilot_toggles=toggles)
finally:
params.remove("GMPedalLongitudinal")
params.remove("RemapCancelToDistance")
assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.GM_REMAP_CANCEL_TO_DISTANCE
opendbc_repo/opendbc/car/hyundai/carcontroller.py
+1 -1
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@@ -571,7 +571,7 @@ class CarController(CarControllerBase):
use_ioniq_6_smoothed_accel = use_ioniq_6_dynamic_long_tuning and CC.actuators.accel >= self._ioniq_6_long_tuning.actual_accel
# steering control
preserve_stock_lkas = self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and not self.long_active_ecu
preserve_stock_lkas = bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING) and not self.long_active_ecu
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled,
apply_steer_req, apply_torque, apply_angle,
CS.stock_lfa_msg,
opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+2 -2
View File
@@ -132,8 +132,8 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
ret = []
if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "LKAS"
if CP.openpilotLongitudinalControl:
ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
# Keep the direct LFA packet shape aligned across stock-long and OP-long paths.
ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
ret.append(packer.make_can_msg(lkas_msg, CAN.ACAN, lkas_values))
else:
if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+94
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@@ -1386,6 +1386,100 @@ class TestHyundaiFingerprint:
assert parser.can_valid
assert parser.vl["LFA"]["LKA_ICON"] == 3
def test_kia_ev6_lfa_helper_preserves_stock_ui_fields_with_stock_long(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.KIA_EV6
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING)
CP.openpilotLongitudinalControl = False
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
can_bus = CanBus(CP)
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LFA", 0)], can_bus.ECAN)
stock_lfa = {
"CHECKSUM": 1234,
"COUNTER": 42,
"LKA_MODE": 6,
"NEW_SIGNAL_1": 3,
"LKA_WARNING": 1,
"LKA_ICON": 1,
"TORQUE_REQUEST": 17,
"STEER_REQ": 0,
"LFA_BUTTON": 1,
"LKA_ASSIST": 1,
"STEER_MODE": 5,
"NEW_SIGNAL_2": 2,
"NEW_SIGNAL_4": 7,
"HAS_LANE_SAFETY": 1,
"DAMP_FACTOR": 0x77,
}
msgs = hyundaicanfd.create_steering_messages(packer, CP, can_bus, True, True, 123, 0.0, stock_lfa)
assert [(packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs] == [
("LFA", can_bus.ECAN),
("LKAS", can_bus.ACAN),
]
lfa_msgs = [msg for msg in msgs if msg[0] == 0x12A]
assert len(lfa_msgs) == 1
parser.update([(1, lfa_msgs)])
assert parser.can_valid
assert parser.vl["LFA"]["NEW_SIGNAL_1"] == 3
assert parser.vl["LFA"]["NEW_SIGNAL_2"] == 2
assert parser.vl["LFA"]["HAS_LANE_SAFETY"] == 1
assert parser.vl["LFA"]["DAMP_FACTOR"] == 0x77
assert parser.vl["LFA"]["TORQUE_REQUEST"] == 123
assert parser.vl["LFA"]["STEER_REQ"] == 1
assert parser.vl["LFA"]["LKA_ICON"] == 2
def test_kia_ev6_lkas_helper_preserves_stock_camera_fields_with_stock_long(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.KIA_EV6
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING)
CP.openpilotLongitudinalControl = False
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
can_bus = CanBus(CP)
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS", 0)], can_bus.ACAN)
stock_lkas = {
"CHECKSUM": 1234,
"COUNTER": 42,
"LKA_MODE": 6,
"LKA_AVAILABLE": 3,
"LKA_WARNING": 1,
"LKA_ICON": 1,
"FCA_SYSWARN": 1,
"TORQUE_REQUEST": 17,
"STEER_REQ": 0,
"LFA_BUTTON": 1,
"LKA_ASSIST": 1,
"STEER_MODE": 5,
"NEW_SIGNAL_2": 2,
"HAS_LANE_SAFETY": 1,
"DAMP_FACTOR": 0x70,
}
msgs = hyundaicanfd.create_steering_messages(packer, CP, can_bus, True, True, 123, 0.0,
lkas_base_values=stock_lkas)
lkas_msgs = [msg for msg in msgs if msg[0] == 0x50]
assert len(lkas_msgs) == 1
parser.update([(1, lkas_msgs)])
assert parser.can_valid
assert parser.vl["LKAS"]["LKA_AVAILABLE"] == 3
assert parser.vl["LKAS"]["LKA_WARNING"] == 1
assert parser.vl["LKAS"]["FCA_SYSWARN"] == 1
assert parser.vl["LKAS"]["LFA_BUTTON"] == 1
assert parser.vl["LKAS"]["HAS_LANE_SAFETY"] == 1
assert parser.vl["LKAS"]["DAMP_FACTOR"] == 0x70
assert parser.vl["LKAS"]["TORQUE_REQUEST"] == 123
assert parser.vl["LKAS"]["STEER_REQ"] == 1
assert parser.vl["LKAS"]["LKA_ICON"] == 2
def test_ioniq_6_lkas_alt_helper_preserves_stock_camera_fields(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+5 -2
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@@ -8,11 +8,13 @@
#define HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(a_can, e_can) \
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can) \
{0x12A, e_can, 16, .check_relay = (e_can) == 0}, /* LFA */ \
{0x50, a_can, 16, .check_relay = (a_can) == 0}, /* LKAS */ \
{0x2A4, a_can, 24, .check_relay = (a_can) == 0}, /* CAM_0x2A4 */ \
#define HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(a_can, e_can) \
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can) \
{0x12A, e_can, 16, .check_relay = (e_can) == 0}, /* LFA */ \
{0x110, a_can, 32, .check_relay = (a_can) == 0}, /* LKAS_ALT */ \
{0x362, a_can, 32, .check_relay = (a_can) == 0}, /* CAM_0x362 */ \
@@ -221,8 +223,9 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
}
// steering
const unsigned int steer_addr = (hyundai_canfd_lka_steering && !hyundai_longitudinal) ? hyundai_canfd_get_lka_addr() : 0x12aU;
if (msg->addr == steer_addr) {
const bool stock_lka_steering = hyundai_canfd_lka_steering && !hyundai_longitudinal;
const bool steer_msg = (msg->addr == 0x12aU) || (stock_lka_steering && (msg->addr == hyundai_canfd_get_lka_addr()));
if (steer_msg) {
if (hyundai_canfd_angle_steering) {
const int lkas_angle_active = (msg->data[9] >> 4U) & 0x3U;
const bool steer_angle_req = lkas_angle_active != 1;
opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
+2 -2
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@@ -470,7 +470,7 @@ class TestHyundaiCanfdCCNCSupportFrames(common.SafetyTestBase):
class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):
TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
TX_MSGS = [[0x50, 0], [0x12A, 1], [0x1CF, 1], [0x2A4, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x50, 0x2a4)} # LKAS, CAM_0x2A4
FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
@@ -507,7 +507,7 @@ class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):
# TODO: Handle ICE and HEV configurations once we see cars that use the new messages
class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
TX_MSGS = [[0x110, 0], [0x12A, 1], [0x1CF, 1], [0x362, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x110, 0x362)} # LKAS_ALT, CAM_0x362
FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]}
selfdrive/controls/lib/latcontrol_torque.py
+5 -5
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@@ -495,18 +495,18 @@ IONIQ_6_PHASE_SCALE = 0.10
IONIQ_6_TURN_IN_BOOST_LEFT = 1.64
IONIQ_6_TURN_IN_BOOST_RIGHT = 1.88
IONIQ_6_UNWIND_TAPER_LEFT = 3.18
IONIQ_6_UNWIND_TAPER_RIGHT = 6.55
IONIQ_6_UNWIND_TAPER_RIGHT = 8.20
IONIQ_6_FRICTION_MULT = 0.928
IONIQ_6_FRICTION_LAT_RISE = 0.20
IONIQ_6_FRICTION_JERK_RISE = 0.24
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.78
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 1.24
IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 3.90
IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 8.10
IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 10.20
IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.44
IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.78
IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 3.55
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 7.65
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 9.10
IONIQ_6_CENTER_TAPER_MAX = 0.082
IONIQ_6_CENTER_TAPER_LAT = 0.24
IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.025
@@ -529,7 +529,7 @@ IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.06
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.13
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.45
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 1.82
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 3.28
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 4.25
IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.48
IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT = 0.52
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.10
@@ -552,7 +552,7 @@ IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH = 0.12
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.10
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT = 0.17
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.62
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.94
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT = 1.18
IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.90