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Hyundai CAN FD: test ACC cancel #1898

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Merged
merged 3 commits into from
Mar 3, 2025
Merged

Hyundai CAN FD: test ACC cancel #1898

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767f8bb
debug
sshane Mar 3, 2025
a950b92
remove debugging
sshane Mar 3, 2025
bfb41f8
huh
sshane Mar 3, 2025
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5 changes: 5 additions & 0 deletions opendbc/safety/safety/safety_hyundai_canfd.h
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Original file line number Diff line number Diff line change
Expand Up @@ -204,6 +204,11 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
} else {
// only used to cancel on here
const int acc_mode = (GET_BYTE(to_send, 8) >> 4) & 0x7U;
if (acc_mode != 4) {
violation = true;
}

if ((desired_accel_raw != 0) || (desired_accel_val != 0)) {
violation = true;
}
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12 changes: 12 additions & 0 deletions opendbc/safety/tests/test_hyundai_canfd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -152,6 +152,10 @@ def _button_msg(self, buttons, main_button=0, bus=1):
}
return self.packer.make_can_msg_panda("CRUISE_BUTTONS_ALT", self.PT_BUS, values)

def _acc_cancel_msg(self, cancel, accel=0):
values = {"ACCMode": 4 if cancel else 0, "aReqRaw": accel, "aReqValue": accel}
return self.packer.make_can_msg_panda("SCC_CONTROL", self.PT_BUS, values)

def test_button_sends(self):
"""
No button send allowed with alt buttons.
Expand All @@ -161,6 +165,14 @@ def test_button_sends(self):
self.safety.set_controls_allowed(enabled)
self.assertFalse(self._tx(self._button_msg(btn)))

def test_acc_cancel(self):
# FIXME: the CANFD_ALT_BUTTONS cars are the only ones that use SCC_CONTROL to cancel, why can't we use buttons?
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@sshane sshane Mar 3, 2025

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@sunnyhaibin know anything about this?

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@sshane sshane Mar 7, 2025

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@sunnyhaibin can you test sending the buttons to simplify this?

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@sunnyhaibin sunnyhaibin Mar 9, 2025

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@sshane For cars with only CRUISE_BUTTONS_ALT/0x1AA, I have tried sending the PAUSE/RESUME button via CRUISE_BUTTONS_ALT/0x1AA (bus 0, 1, 2, respectively), and the car did not respond at all to our cancel command.

for enabled in (True, False):
self.safety.set_controls_allowed(enabled)
self.assertTrue(self._tx(self._acc_cancel_msg(True)))
self.assertFalse(self._tx(self._acc_cancel_msg(True, accel=1)))
self.assertFalse(self._tx(self._acc_cancel_msg(False)))


class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):

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