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Revert "Hyundai CAN-FD: Panda safety config assignments cleanup (#29733)" (#31443)

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This reverts commit 8009b11516.
This commit is contained in:
Shane Smiskol
2024-02-13 23:11:22 -06:00
committed by GitHub
parent 659cdec3d0
commit cff1ad9dd3
1 changed files with 21 additions and 22 deletions
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selfdrive/car/hyundai/interface.py
+21 -22
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@@ -11,7 +11,6 @@ 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)
@@ -19,17 +18,6 @@ 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):
@@ -54,6 +42,7 @@ class CarInterface(CarInterfaceBase):
# 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:
@@ -303,20 +292,30 @@ class CarInterface(CarInterfaceBase):
ret.enableBsm = 0x58b in fingerprint[0]
# *** panda safety config ***
ret.safetyConfigs = set_safety_config_hyundai(candidate, CAN, can_fd=(candidate in CANFD_CAR))
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
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
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 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 ret.flags & HyundaiFlags.HYBRID: