Restore classic Hyundai AOL steering dashboard icons

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -23,6 +23,7 @@ from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.ray_pedal import create_ray_pedal_command, ray_pedal_gas, ray_pedal_enabled
 from opendbc.car.hyundai.ioniq6_longitudinal import Ioniq6LongitudinalPolicy
 from opendbc.car.hyundai.canfd_dash_icons import CanFDDashIcons
+from opendbc.car.hyundai.classic_scc_aol import qualified as qualified_classic_stock_aol
 from opendbc.car.hyundai.canfd_stock_aol import qualified as qualified_canfd_stock_aol
 from opendbc.car.hyundai.ev6_aol import qualified as qualified_ev6_aol
 from opendbc.car.hyundai.g90_longitudinal import G90LongitudinalPolicy
@@ -144,6 +145,8 @@ class CarController(CarControllerBase):
     self.ioniq6_bsm_enabled = ioniq6_status
     self.ev6_aol_status = CP.carFingerprint == CAR.KIA_EV6 and (qualified_canfd_stock_aol(CP) or qualified_ev6_aol(CP))
     self.canfd_dash_icons = CanFDDashIcons() if ioniq6_status or self.torque_ev_scc_enabled or self.ev6_aol_status else None
+    self.classic_dash_icons = CanFDDashIcons() if qualified_classic_stock_aol(CP, marked_only=True) and CP.carFingerprint != CAR.KIA_RAY_EV else None
+    self.classic_lfa_icon = None
     self.ioniq6_bsm_counter = 0
     self.ioniq6_bsm_last_can_ns = 0
     self._ray_pedal = ray_pedal_enabled(CP)
@@ -168,6 +171,8 @@ class CarController(CarControllerBase):
     if self.CP.carFingerprint == CAR.KIA_EV6_2025 and self.CP.dashcamOnly:
       return actuators.as_builder(), []
     hud_control = CC.hudControl
+    if self.classic_dash_icons is not None:
+      self.classic_lfa_icon = self.classic_dash_icons.update(self.frame, CC.enabled, CC.latActive)
     if self.CP.carFingerprint == CAR.KIA_RAY_EV:
       if CC.latActive:
         self._ray_disengage_frame = None
@@ -316,7 +321,8 @@ class CarController(CarControllerBase):
                                               torque_fault, CS.lkas11, sys_warning, sys_state, hud_enabled,
                                               hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                               left_lane_warning, right_lane_warning,
-                                              ray_lka_icon=(self._ray_lfa_icon or 1) if self.CP.carFingerprint == CAR.KIA_RAY_EV else None))
+                                              ray_lka_icon=(self._ray_lfa_icon or 1) if self.CP.carFingerprint == CAR.KIA_RAY_EV else None,
+                                              aol_lka_icon=(self.classic_lfa_icon or 1) if self.classic_lfa_icon is not None else None))
     if _projection is not None and can_sends:
       if not is_blended(self.CP) and (self.CP.carFingerprint != CAR.KIA_RAY_EV or self._ray_lkas11_active):
         _projection.emit('hyundai.LKAS11', apply_torque, apply_steer_req, can_sends[-1])
@@ -365,7 +371,7 @@ class CarController(CarControllerBase):
         lfa_icon = 2 if CC.enabled or CC.latActive else 3 if disengaging else 0
         can_sends.append(hyundaican.create_blended_lfahda(self.packer, self.CAN, self.frame, lfa_icon))
       else:
-        can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
+        can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, lfa_icon=self.classic_lfa_icon))
 
     # 5 Hz ACC options
     if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl and not self._ray_pedal and self.blended_longitudinal is None:

opendbc_repo/opendbc/car/hyundai/hyundaican.py

@@ -9,7 +9,7 @@ hyundai_checksum = mk_crc8_fun(CRC8J1850, init_crc=0xFD, xor_out=0xDF)
 def create_lkas11(packer, frame, CP, apply_torque, steer_req,
                   torque_fault, lkas11, sys_warning, sys_state, enabled,
                   left_lane, right_lane,
-                  left_lane_depart, right_lane_depart, ray_lka_icon=None):
+                  left_lane_depart, right_lane_depart, ray_lka_icon=None, aol_lka_icon=None):
   values = {s: lkas11[s] for s in [
     "CF_Lkas_LdwsActivemode",
     "CF_Lkas_LdwsSysState",
@@ -55,6 +55,8 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
     values["CF_Lkas_FcwOpt_USM"] = 2 if enabled else 1
     if CP.carFingerprint == CAR.KIA_RAY_EV and ray_lka_icon is not None:
       values["CF_Lkas_FcwOpt_USM"] = ray_lka_icon
+    if aol_lka_icon is not None:
+      values["CF_Lkas_FcwOpt_USM"] = aol_lka_icon
 
     # SysWarning 4 = keep hands on wheel
     # SysWarning 5 = keep hands on wheel (red)
@@ -123,9 +125,9 @@ def create_clu11(packer, frame, clu11, button, CP):
   return packer.make_can_msg("CLU11", bus, values)
 
 
-def create_lfahda_mfc(packer, enabled):
+def create_lfahda_mfc(packer, enabled, *, lfa_icon=None):
   values = {
-    "LFA_Icon_State": 2 if enabled else 0,
+    "LFA_Icon_State": (2 if enabled else 0) if lfa_icon is None else lfa_icon,
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 

opendbc_repo/opendbc/car/hyundai/tests/test_classic_aol_dash.py

@@ -0,0 +1,89 @@
+import pytest
+
+from opendbc.can import CANParser
+from opendbc.car import Bus, gen_empty_fingerprint, structs
+from opendbc.car.hyundai.classic_scc_aol import aol_word, qualified
+from opendbc.car.hyundai.interface import CarInterface
+from opendbc.car.hyundai.values import CAR, DBC
+from opendbc.safety.tests.libsafety.libsafety_py import make_CANPacket
+from opendbc.safety.tests import test_hyundai_classic_scc_aol as native_fixture
+
+
+def controller(identity=CAR.HYUNDAI_SONATA_HYBRID, *, marked=True):
+  fp = gen_empty_fingerprint()
+  fp[0][0x391] = 8
+  fp[2][0x485] = 4
+  cp = CarInterface.get_params(identity, fp, [], False, False, False)
+  if marked:
+    cp.safetyConfigs[0].safetyParam = aol_word(cp)
+    cp.alternativeExperience = 32
+    assert qualified(cp, marked_only=True)
+  ci = CarInterface(cp)
+  ci.update([])
+  parser = CANParser(DBC[identity][Bus.pt], [('LKAS11', 0), ('LFAHDA_MFC', 0)], 0)
+  return ci, parser
+
+
+def step(ci, parser, *, enabled=False, lateral=False):
+  cc = structs.CarControl(enabled=enabled, latActive=lateral)
+  frame = ci.CC.frame
+  actuators, packets = ci.CC.update(cc.as_reader(), ci.CS, 10_000_000_000 + frame * 10_000_000)
+  parser.update((10_000_000_000 + frame * 10_000_000, packets))
+  return actuators, packets
+
+
+@pytest.mark.parametrize('icon', ['LKAS11', 'LFAHDA_MFC'])
+def test_recorded_sonata_lateral_only_native_permission_matches_active_dash(icon):
+  case = native_fixture.TestHyundaiClassicSccAol(methodName='runTest')
+  case.setUp()
+  try:
+    ci, parser = controller()
+    assert ci.CP.safetyConfigs[0].safetyParam == 0xC02
+    assert not ci.CP.openpilotLongitudinalControl and ci.CP.pcmCruise
+    case.reset(0xC02)
+    for _ in range(6):
+      case.feed(0xC02, main=True, source='BCM_PO_11')
+    case.feed(0xC02, main=True, source='BCM_PO_11', pressed=True)
+    permission = case.request(1)
+    assert permission == 1 and case.safety.safety_config_valid()
+    assert not case.safety.get_controls_allowed()
+    actuators, packets = step(ci, parser, lateral=bool(permission & 1))
+    for address, data, bus in packets:
+      assert case.safety.safety_tx_hook(make_CANPacket(address, bus, data))
+    signal = 'CF_Lkas_FcwOpt_USM' if icon == 'LKAS11' else 'LFA_Icon_State'
+    assert parser.vl[icon][signal] == 2
+    assert actuators.torque == 0.0 and actuators.accel == 0.0
+    assert all(address not in (0x420, 0x421) for address, _, _ in packets)
+  finally:
+    case.tearDown()
+
+
+@pytest.mark.parametrize('identity', [CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_ELANTRA_2021, CAR.HYUNDAI_KONA_EV])
+def test_qualified_classic_stock_icons_follow_actual_lateral_and_original_blink(identity):
+  ci, parser = controller(identity)
+  original = ci.CP.to_dict()
+  for frame in range(101):
+    step(ci, parser, lateral=frame == 0)
+    expected = 2 if frame == 0 else 3 if frame < 100 else 0
+    assert parser.vl['LKAS11']['CF_Lkas_FcwOpt_USM'] == (expected or 1)
+    if frame % 5 == 0:
+      assert parser.vl['LFAHDA_MFC']['LFA_Icon_State'] == expected
+    assert parser.vl['LKAS11']['CR_Lkas_StrToqReq'] == 0
+    assert parser.vl['LKAS11']['CF_Lkas_MsgCount'] == frame % 16
+  assert ci.CP.to_dict() == original
+
+
+@pytest.mark.parametrize('marked', [False, True])
+@pytest.mark.parametrize('enabled,lateral,lkas,lfa', [(False, False, 1, 0), (True, False, 2, 2), (True, True, 2, 2)])
+def test_existing_ordinary_and_inactive_dash_behavior_is_preserved(marked, enabled, lateral, lkas, lfa):
+  ci, parser = controller(marked=marked)
+  step(ci, parser, enabled=enabled, lateral=lateral)
+  assert parser.vl['LKAS11']['CF_Lkas_FcwOpt_USM'] == lkas
+  assert parser.vl['LFAHDA_MFC']['LFA_Icon_State'] == lfa
+
+
+def test_unmarked_configuration_does_not_gain_lateral_only_icon_override():
+  ci, parser = controller(marked=False)
+  step(ci, parser, lateral=True)
+  assert parser.vl['LKAS11']['CF_Lkas_FcwOpt_USM'] == 1
+  assert parser.vl['LFAHDA_MFC']['LFA_Icon_State'] == 0

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "f7b1b124343980c9dac4009161c3fb323e22c80c46877348fcdc16ffe82a040e", "schema_version": 1}
+{"protected_inventory_sha256": "9a2493649474b945d892fae1e9bba846cf1ff7420c07b88e543ac59b436581de", "schema_version": 1}

tools/ci/run_vehicle_tests.py

@@ -33,6 +33,7 @@ DEBUG_SAFETY_CLASS_TARGETS = {
 
 
 RELEASE_TARGETS = (
+  "opendbc_repo/opendbc/car/hyundai/tests/test_classic_aol_dash.py",
   "opendbc_repo/opendbc/car/hyundai/tests/test_g90_continuity.py",
   "opendbc_repo/opendbc/car/hyundai/tests/test_disable_response.py",
   "openpilot/starpilot/aol/tests/test_angle_stop_native_feedback.py",