From 0953fb6bf221d245661ce56fc31a51db508ca7b7 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 24 May 2024 06:22:20 +0000
Subject: [PATCH] Hyundai CAN Longitudinal: Lenient parsing for auto-enabled
 radar configs

---
 selfdrive/car/hyundai/interface.py       | 7 ++++---
 selfdrive/car/hyundai/radar_interface.py | 8 ++++++++
 2 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index f1c2d05e38..79eaf88384 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -78,7 +78,6 @@ class CarInterface(CarInterfaceBase):
 
       if 0x2AB in fingerprint[0]:
         ret.spFlags |= HyundaiFlagsSP.SP_ENHANCED_SCC.value
-        ret.radarUnavailable = False
 
       if 0x53E in fingerprint[2]:
         ret.spFlags |= HyundaiFlagsSP.SP_LKAS12.value
@@ -94,14 +93,12 @@ class CarInterface(CarInterfaceBase):
       ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR)
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC and not hda2:
         ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
-        ret.radarUnavailable = False
     else:
       ret.longitudinalTuning.kpV = [0.5]
       ret.longitudinalTuning.kiV = [0.0]
       ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | NON_SCC_CAR)
       if candidate in CAMERA_SCC_CAR:
         ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
-        ret.radarUnavailable = False
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
@@ -112,6 +109,10 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalActuatorDelayLowerBound = 0.5
     ret.longitudinalActuatorDelayUpperBound = 0.5
 
+    if DBC[ret.carFingerprint]["radar"] is None:
+      if ret.spFlags & (HyundaiFlagsSP.SP_ENHANCED_SCC | HyundaiFlagsSP.SP_CAMERA_SCC_LEAD):
+        ret.radarUnavailable = False
+
     # *** feature detection ***
     if candidate in CANFD_CAR:
       ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py
index e470011737..2d822befd4 100644
--- a/selfdrive/car/hyundai/radar_interface.py
+++ b/selfdrive/car/hyundai/radar_interface.py
@@ -48,6 +48,8 @@ class RadarInterface(RadarInterfaceBase):
     self.radar_off_can = CP.radarUnavailable
     self.rcp = get_radar_can_parser(CP)
 
+    self.sp_radar_tracks = CP.spFlags & HyundaiFlagsSP.SP_RADAR_TRACKS
+
   def update(self, can_strings):
     if self.radar_off_can or (self.rcp is None):
       return super().update(None)
@@ -61,6 +63,12 @@ class RadarInterface(RadarInterfaceBase):
     rr = self._update(self.updated_messages)
     self.updated_messages.clear()
 
+    radar_error = []
+    if rr is not None:
+      radar_error = rr.errors
+    if list(radar_error) and self.sp_radar_tracks:
+      return super().update(None)
+
     return rr
 
   def _update(self, updated_messages):