bump

# Conflicts:
#	opendbc_repo

common/params_keys.h

@@ -166,6 +166,8 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"HyundaiRadarTracksConfirmed", PERSISTENT},
     {"HyundaiRadarTracksPersistent", PERSISTENT},
     {"HyundaiRadarTracksToggle", PERSISTENT},
+    {"HyundaiLongTune", PERSISTENT},
+    {"HyundaiSmootherBraking", PERSISTENT},
 
     {"DynamicExperimentalControl", PERSISTENT},
 };

selfdrive/car/card.py

@@ -112,6 +112,7 @@ class Car:
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
       self.CP_SP = self.CI.CP_SP
+      self.CP_SP = self.CI.get_longitudinal_tuning(self.CP, self.CP_SP)
 
       # continue onto next fingerprinting step in pandad
       self.params.put_bool("FirmwareQueryDone", True)

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc

@@ -6,9 +6,19 @@
  */
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
+#include <QFile>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include "common/util.h"
 
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
+enum HyundaiLongTuneOption {
+  Off = 0,
+  LongTune = 1,
+  EvenSmootherBraking = 2,
+};
+
 VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
   main_layout = new QStackedLayout(this);
   ListWidget *list = new ListWidget(this);
@@ -20,21 +30,80 @@ VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
   platformSelector = new PlatformSelector();
   list->addItem(platformSelector);
 
+  QObject::connect(uiState(), &UIState::offroadTransition, this, [=](bool offroad_transition) {
+    offroad = offroad_transition;
+    updatePanel(offroad);
+    updateCarToggles();
+  });
+
   ScrollViewSP *scroller = new ScrollViewSP(list, this);
   vlayout->addWidget(scroller);
 
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel);
+  QObject::connect(platformSelector, &PlatformSelector::clicked, [=]() {
+    QTimer::singleShot(100, this, &VehiclePanel::updateCarToggles);
+  });
 
+  std::vector<QString> tuning_buttons { tr("Off"), tr("Long Tune"), tr("Tune + Even Smoother Braking") };
+  hkgtuningToggle = new ButtonParamControlSP(
+    "HyundaiLongTune",
+    tr("HKG Custom Longitudinal Tuning"),
+    tr("Select a tuning mode. 'Off' means no custom tuning is applied. "
+       "'Long Tune' is a dynamic acceleration/brake tune to smoothen out braking. "
+       "'Tune + Smoother Braking' is the tuning, but with even smoother braking thanks to dynamic jerk."),
+       "../assets/offroad/icon_shell.png",
+    tuning_buttons
+  );
+  hkgtuningToggle->showDescription();
+  hkgtuningToggle->setProperty("originalDesc", hkgtuningToggle->getDescription());
+
+  connect(hkgtuningToggle, &ButtonParamControlSP::buttonToggled, this, [=](int index) {
+    hkg_state = index;
+    params.put("HyundaiLongTune", QString::number(index).toStdString());
+    params.putBool("HyundaiSmootherBraking", index == EvenSmootherBraking);
+    updateCarToggles();
+  });
+
+  // Add the tuning toggle to the layout
+  vlayout->addWidget(hkgtuningToggle);
+
+  // Add the vehicle screen to the main layout
   main_layout->addWidget(vehicleScreen);
-  main_layout->setCurrentWidget(vehicleScreen);
 }
 
 void VehiclePanel::showEvent(QShowEvent *event) {
   updatePanel(offroad);
+  updateCarToggles();
 }
 
 void VehiclePanel::updatePanel(bool _offroad) {
   platformSelector->refresh(_offroad);
-
   offroad = _offroad;
 }
+
+void VehiclePanel::updateCarToggles() {
+  bool openpilotLong = params.getBool("ExperimentalLongitudinalEnabled");
+  QString brand = platformSelector->getPlatformBundle("brand").toString();
+
+  if (brand == "hyundai") {
+    hkgtuningToggle->setVisible(true);
+    // Set enabled state/description based on openpilotLong
+    hkgtuningToggle->setEnabled(openpilotLong);
+    hkgtuningToggle->setDescription(openpilotLong ?
+      hkgtuningToggle->property("originalDesc").toString() :
+      tr("Enable openpilot longitudinal control first."));
+    // If not enabled, show disabled description.
+    if (!openpilotLong) {
+      hkgtuningToggle->showDescription();
+      return;
+    }
+    int tuningOption = QString::fromStdString(params.get("HyundaiLongTune")).toInt();
+    hkg_state = tuningOption;  // Off=0, LongTune=1, EvenSmootherBraking=2
+    hkgtuningToggle->setCheckedButton(hkg_state);
+    hkgtuningToggle->showDescription();
+  } else {
+    // Hide toggle if not hyundai.
+    params.put("HyundaiLongTune", "0");
+    params.putBool("HyundaiSmootherBraking", false);
+    hkgtuningToggle->setVisible(false);
+  }
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h

@@ -22,8 +22,17 @@ public slots:
   void updatePanel(bool _offroad);
 
 private:
+  // UI elements
   QStackedLayout* main_layout = nullptr;
   QWidget* vehicleScreen = nullptr;
-  PlatformSelector *platformSelector = nullptr;
-  bool offroad;
+  PlatformSelector* platformSelector = nullptr;
+  ButtonParamControlSP* hkgtuningToggle = nullptr;
+
+  // State tracking
+  bool offroad = false;
+  Params params;
+  int hkg_state = 0;
+
+private slots:
+  void updateCarToggles();
 };

sunnypilot/selfdrive/car/interfaces.py

@@ -4,7 +4,6 @@ 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
@@ -25,6 +24,22 @@ def log_fingerprint(CP: structs.CarParams) -> None:
   else:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
+def _initialize_custom_longitudinal_tuning(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  # Hyundai Custom Longitudinal Tuning
+  if CP.brand == 'hyundai':
+    tuning_option_str = params.get("HyundaiLongTune")
+    if tuning_option_str is not None:
+      if isinstance(tuning_option_str, bytes):
+        tuning_option_str = tuning_option_str.decode('utf-8')
+      tuning_option_str = tuning_option_str.strip()
+      if tuning_option_str != "0":
+        CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING.value
+    if params.get_bool("HyundaiSmootherBraking"):
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_BRAKING.value
+
 
 def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None,
                                               enabled: bool = False) -> None:
@@ -62,6 +77,7 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
 
 
 def setup_interfaces(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None):
+  _initialize_custom_longitudinal_tuning(CP, CP_SP, params)
   _initialize_neural_network_lateral_control(CP, CP_SP, params)
   _initialize_radar_tracks(CP, CP_SP, params)
 

system/manager/manager.py

@@ -46,6 +46,8 @@ def manager_init() -> None:
     ("AutoLaneChangeTimer", "0"),
     ("AutoLaneChangeBsmDelay", "0"),
     ("DynamicExperimentalControl", "0"),
+    ("HyundaiLongTune", "0"),
+    ("HyundaiSmootherBraking", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsPauseLateralOnBrake", "0"),