fix can parser, hyundai canfd, desire

cereal/log.capnp

@@ -1180,7 +1180,8 @@ struct ModelDataV2 {
     laneChangeProb @15 :Float32;
     desireLog @16 : Text;
     modelTurnSpeed @17 :Float32;
-
+    laneChangeAvailableLeft @18 :Bool;
+    laneChangeAvailableRight @19 :Bool;
 
     # deprecated
     brakeDisengageProbDEPRECATED @2 :Float32;

common/params_keys.h

@@ -141,7 +141,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"GMapKey", {PERSISTENT, STRING}},
     {"SearchInput", {PERSISTENT, INT}},
 
-    {"CarSelected3", {PERSISTENT, STRING}},
+    {"CarSelected3", {PERSISTENT, STRING, "MOCK"}},
     {"SupportedCars", {PERSISTENT, STRING}},
     {"SupportedCars_gm", {PERSISTENT, STRING}},
     {"ShowDebugUI", {PERSISTENT, INT, "0"}},
@@ -222,6 +222,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     {"SteerActuatorDelay", {PERSISTENT, INT, "0"}},
     {"LatSmoothSec", {PERSISTENT, INT, "13"}},
+    {"LatSuspendAngleDeg", {PERSISTENT, INT, "300"}},
     {"CruiseOnDist", {PERSISTENT, INT, "400"}},
 
     {"CruiseMaxVals0", {PERSISTENT, INT, "160"}},

opendbc_repo/opendbc/can/packer.py

@@ -8,7 +8,7 @@ def __init__(self, dbc_name: str):
     self.dbc = DBC(dbc_name)
     self.counters: dict[int, int] = {}
 
-  def pack(self, address: int, values: dict[str, float]) -> bytearray:
+  def pack(self, address: int, values: dict[str, float], rx_counter: int | None = None) -> bytearray:
     msg = self.dbc.addr_to_msg.get(address)
     if msg is None:
       return bytearray()
@@ -27,8 +27,8 @@ def pack(self, address: int, values: dict[str, float]) -> bytearray:
         counter_set = True
     sig_counter = next((s for s in msg.sigs.values() if s.type == SignalType.COUNTER or s.name == "COUNTER"), None)
     if sig_counter and not counter_set:
-      if address not in self.counters:
-        self.counters[address] = 0
+      if address not in self.counters:        
+        self.counters[address] = 0 if rx_counter is None else (int(rx_counter) + 1) % (1 << sig_counter.size)
       set_value(dat, sig_counter, self.counters[address])
       self.counters[address] = (self.counters[address] + 1) % (1 << sig_counter.size)
     sig_checksum = next((s for s in msg.sigs.values() if s.type > SignalType.COUNTER), None)
@@ -37,15 +37,15 @@ def pack(self, address: int, values: dict[str, float]) -> bytearray:
       set_value(dat, sig_checksum, checksum)
     return dat
 
-  def make_can_msg(self, name_or_addr, bus: int, values: dict[str, float]):
+  def make_can_msg(self, name_or_addr, bus: int, values: dict[str, float], rx_counter: int | None = None):
     if isinstance(name_or_addr, int):
       addr = name_or_addr
     else:
       msg = self.dbc.name_to_msg.get(name_or_addr)
       if msg is None:
         return 0, b'', bus
       addr = msg.address
-    dat = self.pack(addr, values)
+    dat = self.pack(addr, values, rx_counter = rx_counter)
     if len(dat) == 0:
       return 0, b'', bus
     return addr, bytes(dat), bus

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -319,13 +319,12 @@ def update(self, CC, CS, now_nanos):
     if self.CP.flags & HyundaiFlags.CANFD:
       hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
-
       # steering control
       if camera_scc:
         can_sends.extend(hyundaicanfd.create_steering_messages_camera_scc(self.frame, self.packer, self.CP, self.CAN, CC, apply_steer_req, apply_torque, CS, apply_angle, self.lkas_max_torque, angle_control))
       else:
         can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, apply_angle, self.lkas_max_torque, angle_control))
-
+              
       # prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
       if self.frame % 5 == 0 and hda2 and not camera_scc:
         can_sends.extend(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS))
@@ -352,8 +351,10 @@ def update(self, CC, CS, now_nanos):
             can_sends.extend(hyundaicanfd.create_fca_warning_light(self.CP, self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
           if self.CP.flags & HyundaiFlags.CAMERA_SCC.value:
-            can_sends.append(hyundaicanfd.create_acc_control_scc2(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                             set_speed_in_units, hud_control, self.hyundai_jerk, CS))
+            msg = hyundaicanfd.create_acc_control_scc2(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
+                                                             set_speed_in_units, hud_control, self.hyundai_jerk, CS)
+            if msg is not None:
+              can_sends.append(msg)
             can_sends.extend(hyundaicanfd.create_tcs_messages(self.packer, self.CAN, CS)) # for sorento SCC radar...
           else:
             can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
@@ -366,16 +367,16 @@ def update(self, CC, CS, now_nanos):
           can_sends.extend(hyundaicanfd.forward_button_message(self.packer, self.CAN, self.frame, CS, send_button, self.MainMode_ACC_trigger, self.LFA_trigger))
         else:
           can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
-
     else:
-      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
-                                                torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
-                                                hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                                left_lane_warning, right_lane_warning, self.is_ldws_car))
+      if CS.lkas11 is not None:
+        can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
+                                                  torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
+                                                  hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                  left_lane_warning, right_lane_warning, self.is_ldws_car))
 
       if not self.CP.openpilotLongitudinalControl:
         can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True))
-      if self.CP.carFingerprint in CAN_GEARS["send_mdps12"]:  # send mdps12 to LKAS to prevent LKAS error
+      if self.CP.carFingerprint in CAN_GEARS["send_mdps12"] and CS.mdps12 is not None:  # send mdps12 to LKAS to prevent LKAS error
         can_sends.append(hyundaican.create_mdps12(self.packer, self.frame, CS.mdps12))
 
       casper_opt = self.CP.carFingerprint in (CAR.HYUNDAI_CASPER_EV)
@@ -464,7 +465,7 @@ def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
             print("cruiseControl.cancel222222")
             if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-              #can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
+              #can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.scc_control))
               if self.cruise_buttons_msg_values is not None:
                 can_sends.append(hyundaicanfd.alt_cruise_buttons(self.packer, self.CP, self.CAN, Buttons.CANCEL, self.cruise_buttons_msg_values, self.cruise_buttons_msg_cnt))