Hyundai CAN FD: detect hybrid (#31237)

* detect can fd hybrid

* remove from set

* prevent EV & hybrid somehow
old-commit-hash: e5a8ddc3d0

selfdrive/car/hyundai/interface.py

@@ -45,13 +45,13 @@ class CarInterface(CarInterfaceBase):
     hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
     CAN = CanBus(None, hda2, fingerprint)
 
-    # TODO: detect EV and hybrid
-    if candidate in HYBRID_CAR:
-      ret.flags |= HyundaiFlags.HYBRID.value
-    elif candidate in EV_CAR:
-      ret.flags |= HyundaiFlags.EV.value
-
     if candidate in CANFD_CAR:
+      # detect if car is hybrid
+      if 0x105 in fingerprint[CAN.ECAN]:
+        ret.flags |= HyundaiFlags.HYBRID.value
+      elif candidate in EV_CAR:
+        ret.flags |= HyundaiFlags.EV.value
+
       # detect HDA2 with ADAS Driving ECU
       if hda2:
         if 0x110 in fingerprint[CAN.CAM]:
@@ -69,6 +69,12 @@ class CarInterface(CarInterfaceBase):
         if candidate not in CANFD_RADAR_SCC_CAR:
           ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
     else:
+      # TODO: detect EV and hybrid
+      if candidate in HYBRID_CAR:
+        ret.flags |= HyundaiFlags.HYBRID.value
+      elif candidate in EV_CAR:
+        ret.flags |= HyundaiFlags.EV.value
+
       # Send LFA message on cars with HDA
       if 0x485 in fingerprint[2]:
         ret.flags |= HyundaiFlags.SEND_LFA.value

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -49,6 +49,10 @@ class TestHyundaiFingerprint(unittest.TestCase):
     for car_model in CANFD_CAR:
       self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
 
+  def test_hybrid_ev_sets(self):
+    self.assertEqual(HYBRID_CAR & EV_CAR, set(), "Shared cars between hybrid and EV")
+    self.assertEqual(CANFD_CAR & HYBRID_CAR, set(), "Hard coding CAN FD cars as hybrid is no longer supported")
+
   def test_auxiliary_request_ecu_whitelist(self):
     # Asserts only auxiliary Ecus can exist in database for CAN-FD cars
     whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary}

selfdrive/car/hyundai/values.py

@@ -501,10 +501,8 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 
 # these cars use a different gas signal
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
-              CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
+              CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KIA_K5_HEV_2020,
-              CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
+              CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022}
-              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN,
-              CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022}
 
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
           CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}