feat(hyundai): add ADAS_DRV_INTERCEPT message integration #196

devtekve · 2025-07-14T17:57:54Z

Note

requires:

Route with interceptor worked long for a bit but lat was controlled by Adas ecu, the set speed was updated on comma but not on cluster, the cluster was being updated by the Adas because I could see the speed set there
e1107f9d04dfb1e2/00000331--7c6dfa955d

Introduced a new _hyundai_canfd_sunnypilot.dbc file for ADAS_DRV_INTERCEPT.
Added support for toggling ADAS drive intercept functionality.
Adjusted carcontroller to handle ADAS_DRV_INTERCEPT toggling for testing.

Summary by Sourcery

Add support for the ADAS_DRV_INTERCEPT message by introducing a new DBC file, a message creation function, and integrating the toggling of ADAS driving ECU intercept in the carcontroller.

New Features:

Add ADAS_DRV_INTERCEPT CAN message creation function for toggling driving ECU intercept
Include a new _hyundai_canfd_sunnypilot.dbc file defining the ADAS_DRV_INTERCEPT message

Enhancements:

Integrate ADAS_DRV_INTERCEPT toggling into carcontroller for testing via CC.latActive

- Introduced a new `_hyundai_canfd_sunnypilot.dbc` file for `ADAS_DRV_INTERCEPT`. - Added support for toggling ADAS drive intercept functionality. - Adjusted carcontroller to handle ADAS_DRV_INTERCEPT toggling for testing.

sourcery-ai · 2025-07-14T17:57:59Z

Reviewer's Guide

This PR integrates the ADAS_DRV_INTERCEPT message end-to-end by adding a new DBC file, a helper to pack the message, and toggling logic in the carcontroller for testing purposes.

ER diagram for new _hyundai_canfd_sunnypilot.dbc integration

erDiagram
    HYUNDAI_CANFD {
      int id
      string message
    }
    ADAS_DRV_INTERCEPT {
      int status
    }
    HYUNDAI_CANFD ||--o{ ADAS_DRV_INTERCEPT : contains

Class diagram for ADAS_DRV_INTERCEPT message integration

classDiagram
    class CarController {
      +create_canfd_msgs(apply_steer_req, apply_torque, set_speed_in_units, ...)
    }
    class hyundaicanfd {
      +create_adas_drv_intercept_msg(packer, CAN, enabled)
    }
    CarController --> hyundaicanfd : uses

File-Level Changes

Change	Details	Files
Introduce new DBC definitions for ADAS_DRV_INTERCEPT	Add a new _hyundai_canfd_sunnypilot.dbc file Define ADAS_DRV_INTERCEPT message and its signals	`opendbc/dbc/generator/hyundai/_hyundai_canfd_sunnypilot.dbc`
Implement helper to pack ADAS_DRV_INTERCEPT CAN message	Add create_adas_drv_intercept_msg function in hyundaicanfd Construct CAN message with 'status' field based on enable flag	`opendbc/car/hyundai/hyundaicanfd.py`
Enable ADAS intercept toggling in carcontroller	Inject ADAS_DRV_INTERCEPT message in create_canfd_msgs Use CC.latActive flag to toggle intercept functionality	`opendbc/car/hyundai/carcontroller.py`

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- Introduced `AdasDrvEcuInterceptor` to enable ADAS ECU interception. - Updated car controller, radar interface, and CAN parsers for integration. - Added new flags and parameters to manage feature toggling.

- Added abstract base classes for ECU interceptors, car state, car controller, and radar interface. - Introduced `AdasDrvEcuInterceptor` implementation for specific Hyundai ADAS ECU needs.

- Added `__init__` methods to initialize parent class with CarParams. - Improves consistency and readiness for extended functionality.

- Sets `alphaLongitudinalAvailable` to `True` for improved ADAS capabilities. - Supports future enhancements around ADAS ECU interceptor toggling.

- Reorganized class hierarchy to adjust initialization and behavior. - Ensures better compatibility with existing controllers and ADAS features.

- Added `HYUNDAI_CANFD_ADAS_INTERCEPTOR_MESSAGES` definition for improved ADAS feature support. - Integrated interceptor message into various Hyundai CAN FD message sets.

- Added ADAS_ECU_INTERCEPTOR flag handling to enhance SCC compatibility. - Improved radar and interceptor logic for better feature integration.

devtekve · 2025-07-15T07:15:03Z

opendbc/safety/modes/hyundai_canfd.h

@@ -242,6 +246,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
    HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(0, 1)
    HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(1)
    HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(1, true)
+    HYUNDAI_CANFD_ADAS_INTERCEPTOR_MESSAGES(0)


Adding it here was the only thing that made it unblocked from panda side on my setup. I need to revisit really the others because I was just testing to see what would work without much thinking

devtekve · 2025-07-15T07:17:40Z

opendbc/sunnypilot/car/hyundai/interceptors/ecu_interceptor.py

+
+  @property
+  def enabled(self):
+    return self.CP_SP.flags & HyundaiFlagsSP.ADAS_ECU_INTERCEPTOR


On a prior commit I had this mistakenly set to self.CP_SP.flags & HyundaiFlagsSP.ENHANCED_SCC and it was reporting on the intercept message a status of 1. That does not make sense to me. I did not dive deeper because in the end I wanted it to be 1 for my test, I just updated it to the right flag. But why did the ESCC show up ? shouldn't have been the case, my car does not have ESCC per se. So it's confusing. Must revisit this

devtekve · 2025-07-15T07:18:43Z

opendbc/car/hyundai/interface.py

@@ -165,11 +165,20 @@ def _get_params_sp(stock_cp: structs.CarParams, ret: structs.CarParamsSP, candid
      # TODO-SP: add route with ESCC message for process replay
      if ESCC_MSG in fingerprint[0]:
        ret.flags |= HyundaiFlagsSP.ENHANCED_SCC.value
+    else:
+      IS_ADAS_DRV_ECU_INTERCEPTOR_ENABLED = True  # Faking it like this for now, I haven't built a way to detect it yet.


I will setup a heartbeat from the interceptor to send back at a given cadence it's own status for 2 reasons:

signal it's present on the system

understand what it knew at any time from the logs since they'd be on can bus

sunnypilot/ecu-interceptor#3 (comment)

- Updated `_hyundai_canfd_sunnypilot.dbc` with new ADAS message definitions. - Introduced `ADAS_DRV_INTERCEPT_OPT` and `INTERCEPTOR_HEARTBEAT` for improved safety mode handling. - Enhanced interceptor detection with `ADAS_INTERCEPTOR_HEARTBEAT_MSG` integration. - Refined ADAS interceptor handling for better parameter and capability management.

feat(hyundai): add ADAS_DRV_INTERCEPT message integration

75cfb7d

- Introduced a new `_hyundai_canfd_sunnypilot.dbc` file for `ADAS_DRV_INTERCEPT`. - Added support for toggling ADAS drive intercept functionality. - Adjusted carcontroller to handle ADAS_DRV_INTERCEPT toggling for testing.

feat(hyundai): add ADAS ECU interceptor support

2e86e8c

- Introduced `AdasDrvEcuInterceptor` to enable ADAS ECU interception. - Updated car controller, radar interface, and CAN parsers for integration. - Added new flags and parameters to manage feature toggling.

devtekve mentioned this pull request Jul 14, 2025

[UNSAFE] Hkg adas ecu drv interceptor sunnypilot/sunnypilot#1037

Draft

devtekve added 8 commits July 14, 2025 23:20

feat(hyundai): add base classes for ECU interceptors

eb13f53

- Added abstract base classes for ECU interceptors, car state, car controller, and radar interface. - Introduced `AdasDrvEcuInterceptor` implementation for specific Hyundai ADAS ECU needs.

lint

e3bd585

feat(hyundai): add constructors for ADAS ECU interceptor classes

dea6b19

- Added `__init__` methods to initialize parent class with CarParams. - Improves consistency and readiness for extended functionality.

lint

ea64ace

feat(hyundai): enable alpha longitudinal availability in stock_cp

8fc1df5

- Sets `alphaLongitudinalAvailable` to `True` for improved ADAS capabilities. - Supports future enhancements around ADAS ECU interceptor toggling.

refactor(hyundai): reorder MadsCarController in inheritance chain

f27311f

- Reorganized class hierarchy to adjust initialization and behavior. - Ensures better compatibility with existing controllers and ADAS features.

feat(hyundai): add interceptor message integration for ADAS CAN

2c5d97a

- Added `HYUNDAI_CANFD_ADAS_INTERCEPTOR_MESSAGES` definition for improved ADAS feature support. - Integrated interceptor message into various Hyundai CAN FD message sets.

Support ADAS ECU Interceptor for Hyundai vehicles

6cf0a19

- Added ADAS_ECU_INTERCEPTOR flag handling to enhance SCC compatibility. - Improved radar and interceptor logic for better feature integration.

devtekve commented Jul 15, 2025

View reviewed changes

devtekve added 3 commits July 16, 2025 09:50

Clarification

914bc11

bugfix

39e1644

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feat(hyundai): add ADAS_DRV_INTERCEPT message integration #196

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ER diagram for new _hyundai_canfd_sunnypilot.dbc integration

Class diagram for ADAS_DRV_INTERCEPT message integration

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devtekve commented Jul 14, 2025 •

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