Use IntFlag to gate camera SCC for CAN-FD

selfdrive/car/hyundai/carcontroller.py

@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.hyundai import hyundaicanfd, hyundaican
-from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR
+from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -84,7 +84,7 @@ class CarController:
     # *** common hyundai stuff ***
 
     # tester present - w/ no response (keeps relevant ECU disabled)
-    if self.frame % 100 == 0 and self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in CAMERA_SCC_CAR:
+    if self.frame % 100 == 0 and self.CP.openpilotLongitudinalControl:
       addr, bus = 0x7d0, 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, 5

selfdrive/car/hyundai/interface.py

@@ -43,6 +43,8 @@ class CarInterface(CarInterfaceBase):
         # 2021 Santa Cruz does not have 0x130; GEARS message on 0x40
         if 0x130 not in fingerprint[4]:
           ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
+      if 0x1a0 in fingerprint[6]:
+        ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4
@@ -308,7 +310,7 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kiV = [0.0]
       ret.longitudinalActuatorDelayLowerBound = 0.15
       ret.longitudinalActuatorDelayUpperBound = 0.5
-      ret.experimentalLongitudinalAvailable = bool(ret.flags & HyundaiFlags.CANFD_HDA2) or candidate in CAMERA_SCC_CAR
+      ret.experimentalLongitudinalAvailable = bool(ret.flags & (HyundaiFlags.CANFD_HDA2 | HyundaiFlags.CANFD_CAMERA_SCC))
     else:
       ret.longitudinalTuning.kpV = [0.5]
       ret.longitudinalTuning.kiV = [0.0]
@@ -365,7 +367,7 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def init(CP, logcan, sendcan):
-    if CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
+    if CP.openpilotLongitudinalControl:
       addr, bus = 0x7d0, 0
       if CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, 5

selfdrive/car/hyundai/values.py

@@ -48,6 +48,7 @@ class HyundaiFlags(IntFlag):
   CANFD_HDA2 = 1
   CANFD_ALT_BUTTONS = 2
   CANFD_ALT_GEARS = 4
+  CANFD_CAMERA_SCC = 8
 
 
 class CAR:
@@ -1444,7 +1445,7 @@ FEATURES = {
 CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN}
 
 # The camera does SCC on these cars, rather than the radar
-CAMERA_SCC_CAR = {CAR.KONA_EV_2022, CAR.TUCSON_HYBRID_4TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN}
+CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 
 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}  # these cars use a different gas signal
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5}