IQ.Pilot Release Commit @ cb8d79a

iqdbc_repo/iqdbc/car/hyundai/interface.py

@@ -1,8 +1,8 @@
 from iqdbc.car import Bus, get_safety_config, structs
 from iqdbc.car.hyundai.hyundaicanfd import CanBus
-from iqdbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_RADAR_SCC_CAR, \
+from iqdbc.car.hyundai.values import HyundaiFlags, HyundaiFlagsIQ, CAR, DBC, CANFD_RADAR_SCC_CAR, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
-                                                   UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, HyundaiExtFlags, \
+                                                   UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, HyundaiSafetyFlagsIQ, HyundaiExtFlags, \
                                                    CANFD_HYBRID_STATUS_ADDR, CANFD_HYBRID_STATUS_DLC, \
                                                    EV_MODE_STATUS_ADDR, EV_MODE_STATUS_DLC
 from iqdbc.car.hyundai.radar_interface import RADAR_START_ADDR
@@ -254,6 +254,14 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
+  @staticmethod
+  def _get_params_iq(stock_cp, ret, candidate, fingerprint, car_fw, alpha_long, is_release_iq, docs):
+    del candidate, car_fw, alpha_long, is_release_iq, docs
+    if not stock_cp.flags & HyundaiFlags.CANFD and 0x391 in fingerprint[0]:
+      ret.flags |= HyundaiFlagsIQ.HAS_LFA_BUTTON
+      ret.iqSafetyFlags |= HyundaiSafetyFlagsIQ.HAS_LDA_BUTTON
+    return ret
+
   @staticmethod
   def init(CP, can_recv, can_send):
 

iqdbc_repo/iqdbc/car/hyundai/tests/test_integration.py

@@ -2,7 +2,7 @@ import pytest
 
 from iqdbc.car import gen_empty_fingerprint, structs
 from iqdbc.car.hyundai.interface import CarInterface
-from iqdbc.car.hyundai.values import CAR
+from iqdbc.car.hyundai.values import CAR, HyundaiFlagsIQ, HyundaiSafetyFlagsIQ
 
 
 @pytest.mark.parametrize("candidate", list(CAR), ids=lambda candidate: candidate.value)
@@ -39,3 +39,15 @@ def test_parameter_defaults_do_not_require_persisted_fingerprint(monkeypatch, tm
 
   state, _ = interface.update([])
   assert state.vEgo == 0.0
+
+
+def test_classic_lfa_button_capability_survives_iq_module_removal(monkeypatch, tmp_path):
+  monkeypatch.setenv("PARAMS_ROOT", str(tmp_path))
+  fingerprint = gen_empty_fingerprint()
+  fingerprint[0][0x391] = 8
+
+  cp = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False)
+  cp_iq = CarInterface.get_params_iq(cp, CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False)
+
+  assert cp_iq.flags & HyundaiFlagsIQ.HAS_LFA_BUTTON
+  assert cp_iq.iqSafetyFlags & HyundaiSafetyFlagsIQ.HAS_LDA_BUTTON

iqdbc_repo/iqdbc/car/hyundai/values.py

@@ -26,7 +26,7 @@ class CarControllerParams:
     #([0, 9, 16, 25], [1.6, 1.0, 0.6, 0.15]),
     #([0, 9, 16, 25], [2.0, 1.2, 0.8, 0.28]),
   )
-    # Stock LFA system is seen sending 250 max, but for LKAS events it's 175 max.
+  # Stock LFA system is seen sending 250 max, but for LKAS events it's 175 max.
   # 250 can at least achieve 4 m/s^2, 80 corresponds to ~2.5 m/s^2
   ANGLE_MAX_TORQUE = 200  # The maximum amount of torque that will be allowed
   ANGLE_MIN_TORQUE = 25  # equivalent to ~0.8 m/s^2 of torque (based on ANGLE_MAX_TORQUE) when overriding
@@ -83,6 +83,28 @@ class HyundaiSafetyFlags(IntFlag):
   ALT_LIMITS_2 = 512
 
 
+class HyundaiSafetyFlagsIQ:
+  DEFAULT = 0
+  ESCC = 16
+  MAIN_BTN_LONG_TOGGLE = 32
+  HAS_LDA_BUTTON = 64
+  NON_SCC = 128
+
+
+class HyundaiFlagsIQ(IntFlag):
+  ENHANCED_SCC = 1
+  HAS_LFA_BUTTON = 2
+  MAIN_BTN_LONG_TOGGLE = 2 ** 2
+  ENABLE_RADAR_TRACKS_DEPRECATED = 2 ** 3
+  LONG_TUNING_DYNAMIC = 2 ** 4
+  LONG_TUNING_PREDICTIVE = 2 ** 5
+  NON_SCC = 2 ** 6
+  NON_SCC_RADAR_FCA = 2 ** 7
+  NON_SCC_NO_FCA = 2 ** 8
+  SPEED_LIMIT_AVAILABLE = 2 ** 9
+  HAS_LKAS12 = 2 ** 10
+
+
 class HyundaiFlags(IntFlag):
   # Dynamic Flags
   CANFD_HDA2 = 1
@@ -468,7 +490,6 @@ class CAR(Platforms):
     flags=HyundaiFlags.ANGLE_CONTROL,
   )
 
-
   # Kia
   KIA_FORTE = HyundaiPlatformConfig(
     [