Hyundai: explicitly copy signals to forward (#28020)

* define signals in brandcan.py

* seems so

* fix and reorder

* lkas11 for hyundai

* clu11

* honda: we only use this one signal for BRAKE_COMMAND

* Revert "honda: we only use this one signal for BRAKE_COMMAND"

This reverts commit f5f3aaed7e2fa1cdf35c3608b259fab11164644e.

* do cam and cruise info

* add todo

* do nissan

* s for signal

* do nissan

* mazda

* toyota

* gm

* ford

* ES_DISTANCE_SIGNALS is used twice

* for s

* volks

* tesla

* no copy

* oh there's mqbcan

* same with mqb lka message

* all s's

* these actually are different (pre vs. global)

* this is not in the DBC...

* fix

* check len

* rm import

* need to copy counter!

* fix other proc replay diff (TODO: the rest)

* missing cs/cnt
old-commit-hash: f494abf0d2

selfdrive/car/hyundai/carcontroller.py

@@ -141,7 +141,7 @@ class CarController:
           # cruise cancel
           if CC.cruiseControl.cancel:
             if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-              can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CAN, CS.cruise_info))
+              can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
               self.last_button_frame = self.frame
             else:
               for _ in range(20):

selfdrive/car/hyundai/hyundaican.py

@@ -7,7 +7,23 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
                   torque_fault, lkas11, sys_warning, sys_state, enabled,
                   left_lane, right_lane,
                   left_lane_depart, right_lane_depart):
-  values = lkas11
+  values = {s: lkas11[s] for s in [
+    "CF_Lkas_LdwsActivemode",
+    "CF_Lkas_LdwsSysState",
+    "CF_Lkas_SysWarning",
+    "CF_Lkas_LdwsLHWarning",
+    "CF_Lkas_LdwsRHWarning",
+    "CF_Lkas_HbaLamp",
+    "CF_Lkas_FcwBasReq",
+    "CF_Lkas_HbaSysState",
+    "CF_Lkas_FcwOpt",
+    "CF_Lkas_HbaOpt",
+    "CF_Lkas_FcwSysState",
+    "CF_Lkas_FcwCollisionWarning",
+    "CF_Lkas_FusionState",
+    "CF_Lkas_FcwOpt_USM",
+    "CF_Lkas_LdwsOpt_USM",
+  ]}
   values["CF_Lkas_LdwsSysState"] = sys_state
   values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
   values["CF_Lkas_LdwsLHWarning"] = left_lane_depart
@@ -79,7 +95,20 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
 
 
 def create_clu11(packer, frame, clu11, button, car_fingerprint):
-  values = clu11
+  values = {s: clu11[s] for s in [
+    "CF_Clu_CruiseSwState",
+    "CF_Clu_CruiseSwMain",
+    "CF_Clu_SldMainSW",
+    "CF_Clu_ParityBit1",
+    "CF_Clu_VanzDecimal",
+    "CF_Clu_Vanz",
+    "CF_Clu_SPEED_UNIT",
+    "CF_Clu_DetentOut",
+    "CF_Clu_RheostatLevel",
+    "CF_Clu_CluInfo",
+    "CF_Clu_AmpInfo",
+    "CF_Clu_AliveCnt1",
+  ]}
   values["CF_Clu_CruiseSwState"] = button
   values["CF_Clu_AliveCnt1"] = frame % 0x10
   # send buttons to camera on camera-scc based cars

selfdrive/car/hyundai/hyundaicanfd.py

@@ -63,11 +63,11 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
 
   return ret
 
-def create_cam_0x2a4(packer, CAN, camera_values):
-  camera_values.update({
-    "BYTE7": 0,
-  })
-  return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, camera_values)
+def create_cam_0x2a4(packer, CAN, cam_0x2a4):
+  values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24)}
+  values['COUNTER'] = cam_0x2a4['COUNTER']
+  values["BYTE7"] = 0
+  return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values)
 
 def create_buttons(packer, CP, CAN, cnt, btn):
   values = {
@@ -79,8 +79,30 @@ def create_buttons(packer, CP, CAN, cnt, btn):
   bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
   return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
 
-def create_acc_cancel(packer, CAN, cruise_info_copy):
-  values = cruise_info_copy
+def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
+  # TODO: why do we copy different values here?
+  if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
+    values = {s: cruise_info_copy[s] for s in [
+      "COUNTER",
+      "CHECKSUM",
+      "NEW_SIGNAL_1",
+      "MainMode_ACC",
+      "ACCMode",
+      "CRUISE_INACTIVE",
+      "ZEROS_9",
+      "CRUISE_STANDSTILL",
+      "ZEROS_5",
+      "DISTANCE_SETTING",
+      "VSetDis",
+    ]}
+  else:
+    values = {s: cruise_info_copy[s] for s in [
+      "COUNTER",
+      "CHECKSUM",
+      "ACCMode",
+      "VSetDis",
+      "CRUISE_STANDSTILL",
+    ]}
   values.update({
     "ACCMode": 4,
   })