Hyundai: share panda flags with CAN-FD platform (#26058)

* Hyundai: share panda flags with CAN-FD platform

* move that

* only set bit

* bump panda

* panda master

* regen + update refs for new param

panda

@@ -1 +1 @@
-Subproject commit 2f3e2825e5ecc8074b4ee9cb9a70df635d09fd10
+Subproject commit 622ce923e901c634aab4c29be68638e38b0fcc16

selfdrive/car/hyundai/interface.py

@@ -310,8 +310,6 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
                            get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
 
-      if ret.openpilotLongitudinalControl:
-        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_LONG
       if ret.flags & HyundaiFlags.CANFD_HDA2:
         ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
@@ -325,18 +323,16 @@ class CarInterface(CarInterfaceBase):
       else:
         ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
 
-      # set appropriate safety param for gas signal
-      if candidate in HYBRID_CAR:
-        ret.safetyConfigs[0].safetyParam = 2
-      elif candidate in EV_CAR:
-        ret.safetyConfigs[0].safetyParam = 1
-
-      if ret.openpilotLongitudinalControl:
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
-
       if candidate in CAMERA_SCC_CAR:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
 
+    if ret.openpilotLongitudinalControl:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
+    if candidate in HYBRID_CAR:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_HYBRID_GAS
+    elif candidate in EV_CAR:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
+
     ret.centerToFront = ret.wheelbase * 0.4
 
     # TODO: get actual value, for now starting with reasonable value for
@@ -347,7 +343,6 @@ class CarInterface(CarInterfaceBase):
     # mass and CG position, so all cars will have approximately similar dyn behaviors
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
-
     return ret
 
   @staticmethod

selfdrive/car/hyundai/values.py

@@ -1383,7 +1383,7 @@ CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_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}  # 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}
+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}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
 LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-14bc91c326f75ce48337720668a1744184c46994
+1e4bb3f620bddbe6ead966d6f2dd7db3fd730308

selfdrive/test/process_replay/regen.py

@@ -30,10 +30,11 @@ def replay_panda_states(s, msgs):
   rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None)
   smsgs = [m for m in msgs if m.which() in ['pandaStates', 'pandaStateDEPRECATED']]
 
-  # TODO: new safety params from flags, remove after getting new routes for Toyota
+  # TODO: safety param migration should be handled automatically
   safety_param_migration = {
     "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
     "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
+    "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
   }
 
   # Migrate safety param base on carState
@@ -56,6 +57,7 @@ def replay_panda_states(s, msgs):
         pm.send(s, new_m)
       else:
         new_m = m.as_builder()
+        new_m.pandaStates[-1].safetyParam = safety_param
         new_m.logMonoTime = int(sec_since_boot() * 1e9)
       pm.send(s, new_m)
 

selfdrive/test/process_replay/test_processes.py

@@ -40,7 +40,7 @@ source_segments = [
 segments = [
   ("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"),
   ("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"),
-  ("HYUNDAI2", "regen11AA43BCA5F|2022-09-27--15-39-54--0"),
+  ("HYUNDAI2", "regenFA8B5CA9840|2022-10-12--21-47-06--0"),
   ("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"),
   ("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"),
   ("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"),