Hyundai Longitudinal: Enable radar tracks based on availability

cereal/car.capnp

@@ -137,6 +137,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     speedLimitPreActive @139;
     speedLimitConfirmed @140;
     torqueNNLoad @141;
+    hyundaiRadarTracksAvailable @142;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;

common/params.cc

@@ -264,6 +264,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HkgSmoothStop", PERSISTENT | BACKUP},
     {"HotspotOnBoot", PERSISTENT},
     {"HotspotOnBootConfirmed", PERSISTENT},
+    {"HyundaiRadarTracksAvailable", PERSISTENT | BACKUP},
     {"LastCarModel", PERSISTENT | BACKUP},
     {"LastSpeedLimitSignTap", PERSISTENT},
     {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},

selfdrive/car/hyundai/interface.py

@@ -1,6 +1,7 @@
 from cereal import car
 from panda import Panda
 from openpilot.common.params import Params
+from openpilot.selfdrive.car.car_helpers import can_fingerprint, get_one_can
 from openpilot.selfdrive.car.hyundai.enable_radar_tracks import enable_radar_tracks
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
@@ -125,7 +126,8 @@ class CarInterface(CarInterfaceBase):
 
       if ret.flags & HyundaiFlags.MANDO_RADAR and ret.radarUnavailable:
         ret.spFlags |= HyundaiFlagsSP.SP_RADAR_TRACKS.value
-        ret.radarUnavailable = False
+        if Params().get_bool("HyundaiRadarTracksAvailable"):
+          ret.radarUnavailable = False
 
     # *** panda safety config ***
     if candidate in CANFD_CAR:
@@ -199,7 +201,20 @@ class CarInterface(CarInterfaceBase):
     # some CAN platforms are able to enable radar tracks config at the radar ECU,
     # but the config is reset after ignition cycle
     if CP.spFlags & HyundaiFlagsSP.SP_RADAR_TRACKS:
+      params = Params()
       enable_radar_tracks(logcan, sendcan, bus=0, addr=0x7d0, config_data_id=b'\x01\x42')
+      rt_avail = params.get_bool("HyundaiRadarTracksAvailable")
+      rt_avail_cache = params.get_bool("HyundaiRadarTracksAvailableCache")
+      if rt_avail and rt_avail_cache:
+        pass
+      elif rt_avail != rt_avail_cache:
+        params.put_bool_nonblocking("HyundaiRadarTracksAvailableCache", rt_avail)
+      else:
+        _, fingerprint = can_fingerprint(lambda: get_one_can(logcan))
+        if RADAR_START_ADDR in fingerprint[1] and DBC[CP.carFingerprint]["radar"] is not None:
+          params.put_bool_nonblocking("HyundaiRadarTracksAvailable", True)
+        elif RADAR_START_ADDR not in fingerprint[1] or DBC[CP.carFingerprint]["radar"] is None:
+          params.put_bool_nonblocking("HyundaiRadarTracksAvailable", False)
 
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
@@ -266,6 +281,9 @@ class CarInterface(CarInterfaceBase):
     if self.low_speed_alert and self.CS.madsEnabled:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
+    if self.CS.params_list.hyundai_radar_tracks_available and not self.CS.params_list.hyundai_radar_tracks_available_cache:
+      events.add(car.CarEvent.EventName.hyundaiRadarTracksAvailable)
+
     ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
                                                            self.CC.target_speed, self.CC.v_set_dis,
                                                            self.CC.speed_diff, self.CC.button_type)

selfdrive/car/param_manager.py

@@ -9,6 +9,8 @@ class ParamManager:
       "acc_mads_combo": False,
       "below_speed_pause": False,
       "experimental_mode": False,
+      "hyundai_radar_tracks_available": False,
+      "hyundai_radar_tracks_available_cache": False,
       "is_metric": False,
       "last_speed_limit_sign_tap": False,
       "mads_main_toggle": False,
@@ -35,6 +37,8 @@ class ParamManager:
       "acc_mads_combo": params.get_bool("AccMadsCombo"),
       "below_speed_pause": params.get_bool("BelowSpeedPause"),
       "experimental_mode": params.get_bool("ExperimentalMode"),
+      "hyundai_radar_tracks_available": params.get_bool("HyundaiRadarTracksAvailable"),
+      "hyundai_radar_tracks_available_cache": params.get_bool("HyundaiRadarTracksAvailableCache"),
       "is_metric": params.get_bool("IsMetric"),
       "last_speed_limit_sign_tap": params.get_bool("LastSpeedLimitSignTap"),
       "mads_main_toggle": params.get_bool("MadsCruiseMain"),

selfdrive/controls/lib/events.py

@@ -1141,6 +1141,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.PERMANENT: torque_nn_load_alert,
   },
 
+  EventName.hyundaiRadarTracksAvailable: {
+    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
+  }
 }