Hyundai CAN: auto-enable radar tracks on applicable Mando radar (#561)

* more

* event and checks

* comments

* missed events

* retry 2 times is enough

* rename to radar tracks

* fix data type

* more rename

* bump opendbc

* drain first

* put it behind a toggle lol

* re-enable

* update comments

* revert lead smoothing

* Revert "revert lead smoothing"

This reverts commit 872267970c3dd1dbfd64a5bdd21d2e1b9ea600bf.

* real events and radard engagement

* only show up for hyundai with mando

* update translations

* bump opendbc

* fix event name

* update description

* move above

* translations

---------

Co-authored-by: rav4kumar <meetkumardesai@gmail.com>

cereal/log.capnp

@@ -198,6 +198,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     silentSeatbeltNotLatched @161;
     silentParkBrake @162;
     controlsMismatchLateral @163;
+    hyundaiRadarTracksConfirmed @164;
 
     soundsUnavailableDEPRECATED @47;
   }

common/params.cc

@@ -223,6 +223,12 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SunnylinkDongleId", PERSISTENT},
     {"SunnylinkdPid", PERSISTENT},
     {"SunnylinkEnabled", PERSISTENT},
+
+    // sunnypilot car specific params
+    {"HyundaiRadarTracks", PERSISTENT},
+    {"HyundaiRadarTracksConfirmed", PERSISTENT},
+    {"HyundaiRadarTracksPersistent", PERSISTENT},
+    {"HyundaiRadarTracksToggle", PERSISTENT},
 };
 
 } // namespace

selfdrive/car/card.py

@@ -23,6 +23,7 @@ from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
 
 from openpilot.sunnypilot.mads.mads import MadsParams
+from openpilot.sunnypilot.selfdrive.car.interfaces import setup_car_interface_sp, initialize_car_interface_sp
 
 REPLAY = "REPLAY" in os.environ
 
@@ -100,6 +101,7 @@ class Car:
           cached_params = _cached_params
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      setup_car_interface_sp(self.CI.CP, self.params)
       self.RI = get_radar_interface(self.CI.CP)
       self.CP = self.CI.CP
 
@@ -230,6 +232,7 @@ class Car:
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
       self.CI.init(self.CP, *self.can_callbacks)
+      initialize_car_interface_sp(self.CP, self.params, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 

selfdrive/selfdrived/events.py

@@ -1061,6 +1061,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
   },
 
+  EventName.hyundaiRadarTracksConfirmed: {
+    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
+  }
 
 }
 

selfdrive/selfdrived/selfdrived.py

@@ -24,6 +24,7 @@ from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEE
 from openpilot.system.version import get_build_metadata
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -137,6 +138,8 @@ class SelfdriveD:
     sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
     self.pm = messaging.PubMaster(sock_services)
 
+    self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
+
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
@@ -177,6 +180,9 @@ class SelfdriveD:
       car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
       self.events.add_from_msg(car_events)
 
+      car_events_sp = self.car_events_sp.update().to_msg()
+      self.events.add_from_msg(car_events_sp)
+
       if self.CP.notCar:
         # wait for everything to init first
         if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
@@ -495,6 +501,7 @@ class SelfdriveD:
       self.personality = self.read_personality_param()
 
       self.mads.read_params()
+      self.car_events_sp.read_params()
       time.sleep(0.1)
 
   def run(self):

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -29,6 +29,18 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(longManeuverToggle);
 
+  // TODO-SP: Move to Vehicles panel when ported back
+  hyundaiRadarTracksToggle = new ParamControl(
+    "HyundaiRadarTracksToggle",
+    tr("Hyundai: Enable Radar Tracks"),
+    tr("Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. "
+       "This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance."), "");
+  hyundaiRadarTracksToggle->setConfirmation(true, false);
+  QObject::connect(hyundaiRadarTracksToggle, &ParamControl::toggleFlipped, [=](bool state) {
+    updateToggles(offroad);
+  });
+  addItem(hyundaiRadarTracksToggle);
+
   auto enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
   addItem(enableGithubRunner);
 
@@ -51,9 +63,15 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     AlignedBuffer aligned_buf;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    auto hyundai = CP.getCarName() == "hyundai";
+    auto hyundai_mando_radar = hyundai && (CP.getFlags() & 4096);
+
     longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
+    hyundaiRadarTracksToggle->setVisible(hyundai_mando_radar && hasLongitudinalControl(CP));
   } else {
     longManeuverToggle->setEnabled(false);
+    hyundaiRadarTracksToggle->setVisible(false);
   }
 
   offroad = _offroad;

selfdrive/ui/qt/offroad/developer_panel.h

@@ -16,6 +16,7 @@ private:
   Params params;
   ParamControl* joystickToggle;
   ParamControl* longManeuverToggle;
+  ParamControl* hyundaiRadarTracksToggle;
   bool is_release;
   bool offroad;
 

selfdrive/ui/translations/main_ar.ts

@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_de.ts

@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_es.ts

@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_fr.ts

@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_ja.ts

@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_ko.ts

@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_th.ts

@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_tr.ts

@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -131,6 +131,14 @@
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hyundai: Enable Radar Tracks</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

sunnypilot/selfdrive/car/car_specific.py

@@ -0,0 +1,34 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import log
+from opendbc.car import structs
+
+from openpilot.selfdrive.selfdrived.events import Events
+
+EventName = log.OnroadEvent.EventName
+
+
+class CarSpecificEventsSP:
+  def __init__(self, CP: structs.CarParams, params):
+    self.CP = CP
+    self.params = params
+
+    self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
+    self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
+
+  def read_params(self):
+    self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
+    self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
+
+  def update(self):
+    events = Events()
+    if self.CP.carName == 'hyundai':
+      if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed:
+        events.add(EventName.hyundaiRadarTracksConfirmed)
+
+    return events

sunnypilot/selfdrive/car/interfaces.py

@@ -0,0 +1,41 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from opendbc.car import Bus, structs
+from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
+from opendbc.car.car_helpers import can_fingerprint
+from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
+from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
+from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+
+
+def setup_car_interface_sp(CP: structs.CarParams, params):
+  if CP.carName == 'hyundai':
+    if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable:
+      # Having this automatic without a toggle causes a weird process replay diff because
+      # somehow it sees fewer logs than intended
+      if params.get_bool("HyundaiRadarTracksToggle"):
+        CP.sunnypilotFlags |= HyundaiFlagsSP.ENABLE_RADAR_TRACKS.value
+        if params.get_bool("HyundaiRadarTracks"):
+          CP.radarUnavailable = False
+
+
+def initialize_car_interface_sp(CP: structs.CarParams, params, can_recv: CanRecvCallable, can_send: CanSendCallable):
+  if CP.carName == 'hyundai':
+    if CP.sunnypilotFlags & HyundaiFlagsSP.ENABLE_RADAR_TRACKS:
+      can_recv()
+      _, fingerprint = can_fingerprint(can_recv)
+      radar_unavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in HYUNDAI_DBC[CP.carFingerprint]
+
+      radar_tracks = params.get_bool("HyundaiRadarTracks")
+      radar_tracks_persistent = params.get_bool("HyundaiRadarTracksPersistent")
+
+      params.put_bool_nonblocking("HyundaiRadarTracksConfirmed", radar_tracks)
+
+      if not radar_tracks_persistent:
+        params.put_bool_nonblocking("HyundaiRadarTracks", not radar_unavailable)
+        params.put_bool_nonblocking("HyundaiRadarTracksPersistent", True)