Hyundai CAN: re-enable auto-enable radar tracks (#945)

* Hyundai CAN: re-enable auto-enable radar tracks

* check if radar tracks config bit is already enabled

* only show success message if already enabled

* test if it would actually skip

* 5 bytes only

* tested skipping, revert

* lint

* move to opendbc right after fping

* more

* lint

* bump

common/params_keys.h

@@ -165,10 +165,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
 
     // sunnypilot car specific params
     {"HyundaiLongitudinalTuning", PERSISTENT},
-    {"HyundaiRadarTracks", PERSISTENT},
-    {"HyundaiRadarTracksConfirmed", PERSISTENT},
-    {"HyundaiRadarTracksPersistent", PERSISTENT},
-    {"HyundaiRadarTracksToggle", PERSISTENT},
 
     {"DynamicExperimentalControl", PERSISTENT},
 };

selfdrive/car/card.py

@@ -274,7 +274,6 @@ 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.CP_SP, *self.can_callbacks)
-      sunnypilot_interfaces.init_interfaces(self.CP, self.CP_SP, self.params, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 

selfdrive/selfdrived/selfdrived.py

@@ -545,7 +545,6 @@ class SelfdriveD(CruiseHelper):
       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

@@ -45,18 +45,6 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(experimentalLongitudinalToggle);
 
-  // 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);
-
   enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
   addItem(enableGithubRunner);
 
@@ -96,9 +84,6 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
 
-    auto hyundai = CP.getBrand() == "hyundai";
-    auto hyundai_mando_radar = hyundai && (CP.getFlags() & 4096);
-
     if (!CP.getAlphaLongitudinalAvailable() || is_release) {
       params.remove("AlphaLongitudinalEnabled");
       experimentalLongitudinalToggle->setEnabled(false);
@@ -112,11 +97,9 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     experimentalLongitudinalToggle->setVisible(CP.getAlphaLongitudinalAvailable() && !is_release);
 
     longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
-    hyundaiRadarTracksToggle->setVisible(hyundai_mando_radar && hasLongitudinalControl(CP));
   } else {
     longManeuverToggle->setEnabled(false);
     experimentalLongitudinalToggle->setVisible(false);
-    hyundaiRadarTracksToggle->setVisible(false);
   }
   experimentalLongitudinalToggle->refresh();
 

selfdrive/ui/qt/offroad/developer_panel.h

@@ -19,7 +19,6 @@ private:
   ButtonControl* errorLogBtn;
   ParamControl* longManeuverToggle;
   ParamControl* experimentalLongitudinalToggle;
-  ParamControl* hyundaiRadarTracksToggle;
   ParamControl* enableGithubRunner;
   bool is_release;
   bool offroad = false;

sunnypilot/selfdrive/car/car_specific.py

@@ -23,12 +23,6 @@ class CarSpecificEventsSP:
     self.params = params
 
     self.low_speed_alert = False
-    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, CS: structs.CarState, events: Events):
     events_sp = EventsSP()
@@ -48,8 +42,4 @@ class CarSpecificEventsSP:
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
-    if self.CP.brand == 'hyundai':
-      if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed:
-        events_sp.add(EventNameSP.hyundaiRadarTracksConfirmed)
-
     return events_sp

sunnypilot/selfdrive/car/interfaces.py

@@ -5,12 +5,8 @@ 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 import structs
 from opendbc.car.interfaces import CarInterfaceBase
-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.longitudinal.helpers import LongitudinalTuningType
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
@@ -26,6 +22,7 @@ def log_fingerprint(CP: structs.CarParams) -> None:
   else:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
+
 def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
                                            params: Params = None) -> None:
   if params is None:
@@ -63,47 +60,9 @@ def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs
   CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
 
 
-def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
-  if params is None:
-    params = Params()
-
-  if CP.brand == '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_SP.flags |= HyundaiFlagsSP.ENABLE_RADAR_TRACKS.value
-        if params.get_bool("HyundaiRadarTracks"):
-          CP.radarUnavailable = False
-
-
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
 
   _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
   _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
-  _initialize_radar_tracks(CP, CP_SP, params)
-
-
-def _enable_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, can_recv: CanRecvCallable,
-                        params: Params) -> None:
-  if CP.brand == 'hyundai':
-    if CP_SP.flags & 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)
-
-
-def init_interfaces(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params,
-                                can_recv: CanRecvCallable, can_send: CanSendCallable):
-  _enable_radar_tracks(CP, CP_SP, can_recv, params)

sunnypilot/selfdrive/selfdrived/events.py

@@ -122,10 +122,6 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
   },
 
-  EventNameSP.hyundaiRadarTracksConfirmed: {
-    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
-  },
-
   EventNameSP.experimentalModeSwitched: {
     ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
   },