Hyundai Longitudinal: Enable Cruise Main when started (sunnypilot#391)

* Hyundai Longitudinal: Enable Cruise Main when started * don't do this for the ancients (@devtekve 😉) * okay, toggle per @devtekve xD * update texts * non pcm only * translations
blue-genie · Aug 12, 2024 · 69f88da · 69f88da
1 parent 117ad3b
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diff --git a/CHANGELOGS.md b/CHANGELOGS.md
@@ -14,6 +14,9 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
   * Provides a more responsive and tailored driving experience compared to predefined settings
 * UPDATED: Driving Personality: Updated mode names
   * Aggressive, Moderate, Standard, Relaxed
+* NEW❗: Hyundai CAN: Enable Cruise Main by Default
+  * Set CRUISE MAIN to ON by default when the car starts, without engaging MADS
+  * This feature only applies when "openpilot Longitudinal Control (Alpha)" is enabled under the "Toggles" menu
 * NEW❗: Toyota - Enhanced Blind Spot Monitor (BSM) thanks to arne182, rav4kumar, and eFiniLan!
   * Enables Blind Spot Monitor (BSM) signals parsing in sunnypilot using the factory Blind Spot Monitor (BSM)
   * sunnypilot will use debugging CAN messages to receive unfiltered BSM signals, allowing detection of more objects

diff --git a/common/params.cc b/common/params.cc
@@ -261,6 +261,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HandsOnWheelMonitoring", PERSISTENT | BACKUP},
     {"HasAcceptedTermsSP", PERSISTENT},
     {"HideVEgoUi", PERSISTENT | BACKUP},
+    {"HyundaiCruiseMainDefault", PERSISTENT | BACKUP},
     {"HkgSmoothStop", PERSISTENT | BACKUP},
     {"HotspotOnBoot", PERSISTENT},
     {"HotspotOnBootConfirmed", PERSISTENT},

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -203,6 +203,11 @@ def init(CP, logcan, sendcan):
       enable_radar_tracks(logcan, sendcan, bus=0, addr=0x7d0, config_data_id=b'\x01\x42')
 
   def _update(self, c):
+    if not self.CS.control_initialized and not self.CP.pcmCruise:
+      can_cruise_main_default = self.CP.spFlags & HyundaiFlagsSP.SP_CAN_LFA_BTN and not self.CP.flags & HyundaiFlags.CANFD and \
+                                self.CS.params_list.hyundai_cruise_main_default
+      self.CS.mainEnabled = True if can_cruise_main_default or self.CP.carFingerprint in CANFD_CAR else False
+
     ret = self.CS.update(self.cp, self.cp_cam)
 
     self.CS.button_events = [

diff --git a/selfdrive/car/param_manager.py b/selfdrive/car/param_manager.py
@@ -11,6 +11,7 @@ def __init__(self):
       "experimental_mode": False,
       "is_metric": False,
       "last_speed_limit_sign_tap": False,
+      "hyundai_cruise_main_default": False,
       "mads_main_toggle": False,
       "pause_lateral_speed": 0,
       "reverse_acc_change": False,
@@ -37,6 +38,7 @@ def update(self, params: Params) -> None:
       "experimental_mode": params.get_bool("ExperimentalMode"),
       "is_metric": params.get_bool("IsMetric"),
       "last_speed_limit_sign_tap": params.get_bool("LastSpeedLimitSignTap"),
+      "hyundai_cruise_main_default": params.get_bool("HyundaiCruiseMainDefault"),
       "mads_main_toggle": params.get_bool("MadsCruiseMain"),
       "pause_lateral_speed": int(params.get("PauseLateralSpeed", encoding="utf8")),
       "reverse_acc_change": params.get_bool("ReverseAccChange"),

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_settings.cc
@@ -109,6 +109,16 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
   hkgSmoothStop->setConfirmation(true, false);
   addItem(hkgSmoothStop);
 
+  hyundaiCruiseMainDefault = new ParamControlSP(
+    "HyundaiCruiseMainDefault",
+    tr("HKG CAN: Enable Cruise Main by Default"),
+    QString("<b>%1</b><br><br>%2")
+    .arg(tr("WARNING: This feature only applies when \"openpilot Longitudinal Control (Alpha)\" is enabled under \"Toggles\""))
+    .arg(tr("Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.")),
+    "../assets/offroad/icon_blank.png");
+  hyundaiCruiseMainDefault->setConfirmation(true, false);
+  addItem(hyundaiCruiseMainDefault);
+
   // Subaru
   addItem(new LabelControlSP(tr("Subaru")));
   auto subaruManualParkingBrakeSng = new ParamControlSP(
@@ -194,6 +204,7 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
   connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) {
     is_onroad = !offroad;
     hkgSmoothStop->setEnabled(offroad);
+    hyundaiCruiseMainDefault->setEnabled(offroad);
     toyotaTss2LongTune->setEnabled(offroad);
     toyotaEnhancedBsm->setEnabled(offroad);
     toyotaSngHack->setEnabled(offroad);
@@ -223,6 +234,17 @@ void SPVehiclesTogglesPanel::updateToggles() {
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
 
+    // Hyundai/Kia/Genesis
+    {
+      if (CP.getCarName() == "hyundai") {
+        if ((CP.getSpFlags() & 2) and !(CP.getFlags() & 8192)) {
+          hyundaiCruiseMainDefault->setEnabled(true);
+        } else {
+          hyundaiCruiseMainDefault->setEnabled(false);
+        }
+      }
+    }
+
     // Toyota: Enhanced Blind Spot Monitor
     {
       if (CP.getCarName() == "toyota") {

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_settings.h
@@ -67,6 +67,7 @@ public slots:
   Params params;
   bool is_onroad = false;
 
+  ParamControlSP *hyundaiCruiseMainDefault;
   ParamControlSP *stockLongToyota;
   ParamControlSP *toyotaEnhancedBsm;
 

diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
@@ -1583,6 +1583,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>

diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
@@ -1565,6 +1565,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>

diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
@@ -1563,6 +1563,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>

diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
@@ -1567,6 +1567,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>

diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
@@ -1561,6 +1561,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
@@ -1563,6 +1563,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>

diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
@@ -1567,6 +1567,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>

diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
@@ -1563,6 +1563,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>

diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
@@ -1561,6 +1561,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>

diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -1563,6 +1563,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>

diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -1563,6 +1563,18 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>

diff --git a/system/manager/manager.py b/system/manager/manager.py
@@ -71,6 +71,7 @@ def manager_init() -> None:
     ("FeatureStatus", "1"),
     ("HandsOnWheelMonitoring", "0"),
     ("HasAcceptedTermsSP", "0"),
+    ("HyundaiCruiseMainDefault", "0"),
     ("HideVEgoUi", "0"),
     ("LastSpeedLimitSignTap", "0"),
     ("LkasToggle", "0"),