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Hyundai CAN-FD: Panda safety config assignments cleanup (#29733)

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* Hyundai CAN-FD: Interface small cleanup

* some more

* Do this too

* fix

* cleaner

* use flag

* consolidate

* do it there

* Fix

* hda2 only

* cleaner

* default to False

* in another PR

* lint
This commit is contained in:
Jason Wen
2023-12-13 23:15:25 -05:00
committed by GitHub
parent 8c25741e46
commit 8009b11516
1 changed files with 22 additions and 21 deletions
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selfdrive/car/hyundai/interface.py
+22 -21
View File
@@ -11,6 +11,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.disable_ecu import disable_ecu
Ecu = car.CarParams.Ecu
SafetyModel = car.CarParams.SafetyModel
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
@@ -18,6 +19,17 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
def set_safety_config_hyundai(candidate, CAN, can_fd=False):
platform = SafetyModel.hyundaiCanfd if can_fd else \
SafetyModel.hyundaiLegacy if candidate in LEGACY_SAFETY_MODE_CAR else \
SafetyModel.hyundai
cfgs = [get_safety_config(platform), ]
if CAN.ECAN >= 4:
cfgs.insert(0, get_safety_config(SafetyModel.noOutput))
return cfgs
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -36,7 +48,6 @@ class CarInterface(CarInterfaceBase):
if candidate in CANFD_CAR:
# detect HDA2 with ADAS Driving ECU
if hda2:
ret.flags |= HyundaiFlags.CANFD_HDA2.value
if 0x110 in fingerprint[CAN.CAM]:
ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
else:
@@ -286,30 +297,20 @@ class CarInterface(CarInterfaceBase):
ret.enableBsm = 0x58b in fingerprint[0]
# *** panda safety config ***
if candidate in CANFD_CAR:
cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
if CAN.ECAN >= 4:
cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
ret.safetyConfigs = set_safety_config_hyundai(candidate, CAN, can_fd=(candidate in CANFD_CAR))
if ret.flags & HyundaiFlags.CANFD_HDA2:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
if hda2:
ret.flags |= HyundaiFlags.CANFD_HDA2.value
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
if candidate in CANFD_CAR:
if hda2 and ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
else:
if candidate in LEGACY_SAFETY_MODE_CAR:
# these cars require a special panda safety mode due to missing counters and checksums in the messages
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
if candidate in CAMERA_SCC_CAR:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC or candidate in CAMERA_SCC_CAR:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
if ret.openpilotLongitudinalControl:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
if candidate in HYBRID_CAR: