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[$100 bounty] Match stock Hyundai button logic #32306

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ksfi wants to merge 2 commits into from
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[$100 bounty] Match stock Hyundai button logic #32306

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d6e345b
pause/resume hkg cars button logic
Apr 27, 2024
a11055b
use ret cruise state
Apr 27, 2024
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31 changes: 24 additions & 7 deletions selfdrive/car/hyundai/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
UNSUPPORTED_LONGITUDINAL_CAR, Buttons
UNSUPPORTED_LONGITUDINAL_CAR, PAUSE_RESUME_BTN_CAR, Buttons
from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
Expand Down Expand Up @@ -32,6 +32,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
CAN = CanBus(None, hda2, fingerprint)

if candidate in PAUSE_RESUME_BTN_CAR:
ret.flags |= HyundaiFlags.PAUSE_RESUME_BTN.value

if candidate in CANFD_CAR:
# detect if car is hybrid
if 0x105 in fingerprint[CAN.ECAN]:
Expand Down Expand Up @@ -125,6 +128,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
if candidate in CAMERA_SCC_CAR:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC

if ret.flags & HyundaiFlags.PAUSE_RESUME_BTN:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_PAUSE_RESUME_BTN
if ret.openpilotLongitudinalControl:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
if ret.flags & HyundaiFlags.HYBRID:
Expand Down Expand Up @@ -156,12 +161,24 @@ def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam)

if self.CS.CP.openpilotLongitudinalControl:
ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
ret.buttonEvents= create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)

pause_resume_btn = bool(self.CP.flags & HyundaiFlags.PAUSE_RESUME_BTN)
cruise_speed_set = ret.cruiseState.speed > 0

resume_button = self.CS.cruise_buttons[-1] == Buttons.RES_ACCEL
cancel_button = self.CS.cruise_buttons[-1] == Buttons.CANCEL
# main button is considered if it's the first time it is pressed
main_button = self.CS.main_buttons[-1] == 1 and sum(1 for x in self.CS.main_buttons if x != Buttons.NONE) == 1

allow_enable = (
(resume_button and cruise_speed_set and not pause_resume_btn) or
(cancel_button and pause_resume_btn) or # cancel acts like a pause/resume button on newer cars
(main_button and pause_resume_btn)
)
else:
allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)

# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
# Main button also can trigger an engagement on these cars
allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)

# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
Expand All @@ -170,7 +187,7 @@ def _update(self, c):
if ret.vEgo > (self.CP.minSteerSpeed + 4.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(car.CarEvent.EventName.belowSteerSpeed)
events.add(EventName.belowSteerSpeed)

ret.events = events.to_msg()

Expand Down
3 changes: 3 additions & 0 deletions selfdrive/car/hyundai/values.py
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Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,8 @@ class HyundaiFlags(IntFlag):

MIN_STEER_32_MPH = 2 ** 23

PAUSE_RESUME_BTN = 2 ** 24


class Footnote(Enum):
CANFD = CarFootnote(
Expand Down Expand Up @@ -727,6 +729,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
"use_tcu_gears": CAR.with_flags(HyundaiFlags.TCU_GEARS),
}

PAUSE_RESUME_BTN_CAR = CAR.with_flags(HyundaiFlags.PAUSE_RESUME_BTN)
CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD)
CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)

Expand Down