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Merge branch 'master' into docs-hyundai

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pull/25851/head
Cameron Clough 3 years ago
parent 94c264564f c5df17cd57
commit ee0582dbaa
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10 changed files with 67 additions and 28 deletions
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  1. 2
      panda
  2. BIN
      selfdrive/assets/images/button_flag.png
  3. 2
      selfdrive/car/hyundai/hyundaican.py
  4. 4
      selfdrive/car/hyundai/interface.py
  5. 46
      selfdrive/car/hyundai/values.py
  6. 1
      selfdrive/car/tests/routes.py
  7. 3
      selfdrive/car/torque_data/substitute.yaml
  8. 1
      selfdrive/ui/qt/home.cc
  9. 31
      selfdrive/ui/qt/sidebar.cc
  10. 5
      selfdrive/ui/qt/sidebar.h

2
panda

@ -1 +1 @@
Subproject commit 046fd58e8d64c58ed80769fcbec5ac2417a04c71 Subproject commit 11ea112258b66a0969fa340cd5e2d870378e5c5d

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2
selfdrive/car/hyundai/hyundaican.py
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@ -38,7 +38,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
# Likely cars lacking the ability to show individual lane lines in the dash # Likely cars lacking the ability to show individual lane lines in the dash
elif car_fingerprint in (CAR.KIA_OPTIMA,): elif car_fingerprint in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019):
# SysWarning 4 = keep hands on wheel + beep # SysWarning 4 = keep hands on wheel + beep
values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0

4
selfdrive/car/hyundai/interface.py
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@ -202,11 +202,13 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H): elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.KIA_OPTIMA_H):
ret.mass = 3558. * CV.LB_TO_KG ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80 ret.wheelbase = 2.80
ret.steerRatio = 13.75 ret.steerRatio = 13.75
tire_stiffness_factor = 0.5 tire_stiffness_factor = 0.5
if candidate == CAR.KIA_OPTIMA:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.KIA_STINGER: elif candidate == CAR.KIA_STINGER:
ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kf = 0.00005

46
selfdrive/car/hyundai/values.py
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@ -85,7 +85,8 @@ class CAR:
KIA_NIRO_EV = "KIA NIRO EV 2020" KIA_NIRO_EV = "KIA NIRO EV 2020"
KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016" KIA_OPTIMA = "KIA OPTIMA 2016"
KIA_OPTIMA_2019 = "KIA OPTIMA 2019"
KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
KIA_SELTOS = "KIA SELTOS 2021" KIA_SELTOS = "KIA SELTOS 2021"
KIA_SORENTO = "KIA SORENTO GT LINE 2018" KIA_SORENTO = "KIA SORENTO GT LINE 2018"
@ -157,10 +158,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
HyundaiCarInfo("Kia Niro Hybrid 2021", "Smart Cruise Control (SCC) & LKAS", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify HyundaiCarInfo("Kia Niro Hybrid 2021", "Smart Cruise Control (SCC) & LKAS", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify
HyundaiCarInfo("Kia Niro Hybrid 2022", "Smart Cruise Control (SCC) & LKAS", harness=Harness.hyundai_h), HyundaiCarInfo("Kia Niro Hybrid 2022", "Smart Cruise Control (SCC) & LKAS", harness=Harness.hyundai_h),
], ],
CAR.KIA_OPTIMA: [ CAR.KIA_OPTIMA: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b), # TODO: may support 2016, 2018
HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b), CAR.KIA_OPTIMA_2019: HyundaiCarInfo("Kia Optima 2019-20", harness=Harness.hyundai_g),
HyundaiCarInfo("Kia Optima 2019-20", harness=Harness.hyundai_g),
],
CAR.KIA_OPTIMA_H: [ CAR.KIA_OPTIMA_H: [
HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years
HyundaiCarInfo("Kia Optima Hybrid 2019"), HyundaiCarInfo("Kia Optima Hybrid 2019"),
@ -231,9 +230,6 @@ FINGERPRINTS = {
CAR.SONATA_LF: [ CAR.SONATA_LF: [
{66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8}, {66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8},
], ],
CAR.KIA_OPTIMA: [{
64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 558: 8, 593: 8, 608: 8, 640: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1268: 8, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1492: 8, 1530: 8, 1532: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8, 1371: 8, 1397: 8, 1961: 8
}],
CAR.KIA_SORENTO: [{ CAR.KIA_SORENTO: [{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
}], }],
@ -1145,25 +1141,40 @@ FW_VERSIONS = {
}, },
CAR.KIA_OPTIMA: { CAR.KIA_OPTIMA: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4100 ',
], ],
(Ecu.abs, 0x7d1, None): [ (Ecu.abs, 0x7d1, None): [
b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180', b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080',
], ],
(Ecu.engine, 0x7e0, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x89F1JF600AISEIU702\xf1\x82F1JF600AISEIU702', b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21',
], ],
(Ecu.eps, 0x7d4, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00',
],
},
CAR.KIA_OPTIMA_2019: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ',
],
(Ecu.abs, 0x7d1, None): [
b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180',
b"\xf1\x00JF ESC \t 11 \x18\x03' 58920-D5260",
], ],
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32', b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32',
b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31', b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
b'\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01',
b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01',
b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4',
], ],
}, },
CAR.ELANTRA_2021: { CAR.ELANTRA_2021: {
@ -1359,7 +1370,7 @@ CHECKSUM = {
FEATURES = { FEATURES = {
# which message has the gear # which message has the gear
"use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA}, "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
"use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, 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}, "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},
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
@ -1375,7 +1386,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N
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}
# these cars require a special panda safety mode due to missing counters and checksums in the messages # 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, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} 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, CAR.KIA_OPTIMA_2019, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py
@ -1401,6 +1412,7 @@ DBC = {
CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None), CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_2019: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None), CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format

1
selfdrive/car/tests/routes.py
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@ -89,6 +89,7 @@ routes = [
CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1), CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1),
CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED), CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA), CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA),
CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_2019, segment=0),
CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS), CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA), CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF), CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),

3
selfdrive/car/torque_data/substitute.yaml
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@ -17,7 +17,8 @@ LEXUS RC 2020: LEXUS NX 2020
TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019 TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022 TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
KIA OPTIMA SX 2019 & 2016: HYUNDAI SONATA 2020 KIA OPTIMA 2016: HYUNDAI SONATA 2020
KIA OPTIMA 2019: HYUNDAI SONATA 2020
KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020 KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020
KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020 KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020 KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020

1
selfdrive/ui/qt/home.cc
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@ -41,6 +41,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
setAttribute(Qt::WA_NoSystemBackground); setAttribute(Qt::WA_NoSystemBackground);
QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState); QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState);
QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition); QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition);
QObject::connect(uiState(), &UIState::offroadTransition, sidebar, &Sidebar::offroadTransition);
} }
void HomeWindow::showSidebar(bool show) { void HomeWindow::showSidebar(bool show) {

31
selfdrive/ui/qt/sidebar.cc
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@ -32,8 +32,9 @@ void Sidebar::drawMetric(QPainter &p, const QPair<QString, QString> &label, QCol
p.drawText(label_rect, Qt::AlignCenter, label.second); p.drawText(label_rect, Qt::AlignCenter, label.second);
} }
Sidebar::Sidebar(QWidget *parent) : QFrame(parent) { Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) {
home_img = loadPixmap("../assets/images/button_home.png", home_btn.size()); home_img = loadPixmap("../assets/images/button_home.png", home_btn.size());
flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio); settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
connect(this, &Sidebar::valueChanged, [=] { update(); }); connect(this, &Sidebar::valueChanged, [=] { update(); });
@ -47,17 +48,34 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent) {
pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"userFlag"}); pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"userFlag"});
} }
void Sidebar::mousePressEvent(QMouseEvent *event) {
if (onroad && home_btn.contains(event->pos())) {
flag_pressed = true;
update();
} else if (settings_btn.contains(event->pos())) {
settings_pressed = true;
update();
}
}
void Sidebar::mouseReleaseEvent(QMouseEvent *event) { void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
if (flag_pressed || settings_pressed) {
flag_pressed = settings_pressed = false;
update();
}
if (home_btn.contains(event->pos())) { if (home_btn.contains(event->pos())) {
MessageBuilder msg; MessageBuilder msg;
msg.initEvent().initUserFlag(); msg.initEvent().initUserFlag();
pm->send("userFlag", msg); pm->send("userFlag", msg);
} } else if (settings_btn.contains(event->pos())) {
if (settings_btn.contains(event->pos())) {
emit openSettings(); emit openSettings();
} }
} }
void Sidebar::offroadTransition(bool offroad) {
onroad = !offroad;
}
void Sidebar::updateState(const UIState &s) { void Sidebar::updateState(const UIState &s) {
if (!isVisible()) return; if (!isVisible()) return;
@ -102,11 +120,12 @@ void Sidebar::paintEvent(QPaintEvent *event) {
p.fillRect(rect(), QColor(57, 57, 57)); p.fillRect(rect(), QColor(57, 57, 57));
// static imgs // buttons
p.setOpacity(0.65); p.setOpacity(settings_pressed ? 0.65 : 1.0);
p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img); p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img);
p.setOpacity(onroad && flag_pressed ? 0.65 : 1.0);
p.drawPixmap(home_btn.x(), home_btn.y(), onroad ? flag_img : home_img);
p.setOpacity(1.0); p.setOpacity(1.0);
p.drawPixmap(home_btn.x(), home_btn.y(), home_img);
// network // network
int x = 58; int x = 58;

5
selfdrive/ui/qt/sidebar.h
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@ -24,14 +24,17 @@ signals:
void valueChanged(); void valueChanged();
public slots: public slots:
void offroadTransition(bool offroad);
void updateState(const UIState &s); void updateState(const UIState &s);
protected: protected:
void paintEvent(QPaintEvent *event) override; void paintEvent(QPaintEvent *event) override;
void mousePressEvent(QMouseEvent *event) override;
void mouseReleaseEvent(QMouseEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override;
void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y); void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
QPixmap home_img, settings_img; QPixmap home_img, flag_img, settings_img;
bool onroad, flag_pressed, settings_pressed;
const QMap<cereal::DeviceState::NetworkType, QString> network_type = { const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
{cereal::DeviceState::NetworkType::NONE, tr("--")}, {cereal::DeviceState::NetworkType::NONE, tr("--")},
{cereal::DeviceState::NetworkType::WIFI, tr("Wi-Fi")}, {cereal::DeviceState::NetworkType::WIFI, tr("Wi-Fi")},

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