hyundai: fix logging stock AEB events (#25152)

selfdrive/car/hyundai/carstate.py

@@ -126,12 +126,12 @@ class CarState(CarStateBase):
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
     if not self.CP.openpilotLongitudinalControl:
-      if self.CP.carFingerprint in FEATURES["use_fca"]:
+      aeb_src = "FCA11" if self.CP.carFingerprint in FEATURES["use_fca"] else "SCC12"
-        ret.stockAeb = cp_cruise.vl["FCA11"]["FCA_CmdAct"] != 0
+      aeb_sig = "FCA_CmdAct" if self.CP.carFingerprint in FEATURES["use_fca"] else "AEB_CmdAct"
-        ret.stockFcw = cp_cruise.vl["FCA11"]["CF_VSM_Warn"] == 2
+      aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
-      else:
+      aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
-        ret.stockAeb = cp_cruise.vl["SCC12"]["AEB_CmdAct"] != 0
+      ret.stockFcw = aeb_warning and not aeb_braking
-        ret.stockFcw = cp_cruise.vl["SCC12"]["CF_VSM_Warn"] == 2
+      ret.stockAeb = aeb_warning and aeb_braking
 
     if self.CP.enableBsm:
       ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
@@ -294,12 +294,14 @@ class CarState(CarStateBase):
         signals += [
           ("FCA_CmdAct", "FCA11"),
           ("CF_VSM_Warn", "FCA11"),
+          ("CF_VSM_DecCmdAct", "FCA11"),
         ]
         checks.append(("FCA11", 50))
       else:
         signals += [
           ("AEB_CmdAct", "SCC12"),
           ("CF_VSM_Warn", "SCC12"),
+          ("CF_VSM_DecCmdAct", "SCC12"),
         ]
 
     if CP.enableBsm:
@@ -383,12 +385,14 @@ class CarState(CarStateBase):
         signals += [
           ("FCA_CmdAct", "FCA11"),
           ("CF_VSM_Warn", "FCA11"),
+          ("CF_VSM_DecCmdAct", "FCA11"),
         ]
         checks.append(("FCA11", 50))
       else:
         signals += [
           ("AEB_CmdAct", "SCC12"),
           ("CF_VSM_Warn", "SCC12"),
+          ("CF_VSM_DecCmdAct", "SCC12"),
         ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)