From b2453d55c12e4e6e8e5115ef7c8daf0f60205fdb Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 16 Feb 2023 21:52:32 -0800
Subject: [PATCH] Hyundai: detect FCA feature (#27322)

* detect fca

* use value

* it will be from camera on camera acc cars

* Update ref_commit
---
 selfdrive/car/hyundai/carstate.py        | 8 ++++----
 selfdrive/car/hyundai/interface.py       | 4 ++++
 selfdrive/car/hyundai/values.py          | 4 +---
 selfdrive/test/process_replay/ref_commit | 2 +-
 4 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 0bab188790..22934c05b2 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -135,8 +135,8 @@ class CarState(CarStateBase):
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
     if not self.CP.openpilotLongitudinalControl:
-      aeb_src = "FCA11" if self.CP.carFingerprint in FEATURES["use_fca"] else "SCC12"
-      aeb_sig = "FCA_CmdAct" if self.CP.carFingerprint in FEATURES["use_fca"] else "AEB_CmdAct"
+      aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
+      aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
       aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
       aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
       ret.stockFcw = aeb_warning and not aeb_braking
@@ -317,7 +317,7 @@ class CarState(CarStateBase):
         ("SCC12", 50),
       ]
 
-      if CP.carFingerprint in FEATURES["use_fca"]:
+      if CP.flags & HyundaiFlags.USE_FCA.value:
         signals += [
           ("FCA_CmdAct", "FCA11"),
           ("CF_VSM_Warn", "FCA11"),
@@ -408,7 +408,7 @@ class CarState(CarStateBase):
         ("SCC12", 50),
       ]
 
-      if CP.carFingerprint in FEATURES["use_fca"]:
+      if CP.flags & HyundaiFlags.USE_FCA.value:
         signals += [
           ("FCA_CmdAct", "FCA11"),
           ("CF_VSM_Warn", "FCA11"),
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index ae0f26274c..d2cc5b4ec0 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -48,6 +48,10 @@ class CarInterface(CarInterfaceBase):
       if 0x485 in fingerprint[2]:
         ret.flags |= HyundaiFlags.SEND_LFA.value
 
+      # These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
+      if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]:
+        ret.flags |= HyundaiFlags.USE_FCA.value
+
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4
     tire_stiffness_factor = 1.
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 422431a718..d0a4e4dd1a 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -61,6 +61,7 @@ class HyundaiFlags(IntFlag):
   ENABLE_BLINKERS = 32
   CANFD_ALT_GEARS_2 = 64
   SEND_LFA = 128
+  USE_FCA = 256
 
 
 class CAR:
@@ -1658,9 +1659,6 @@ FEATURES = {
   "use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
   "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
   "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
-
-  # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.KIA_CEED, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_OPTIMA_G4_FL},
 }
 
 CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN}
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index b151a6a5ae..6884eb4660 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-fbb99ee7dc0336062e6785814af82e359dcdd9bf
+8883c476d5abc12b4b2949e04c6d7c0cd7c8b9fa