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2024-05-18 08:42:15 -05:00
parent d6fff3fa1b
commit 037b08dd0d
7 changed files with 43 additions and 205 deletions
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21
selfdrive/car/hyundai/carcontroller.py
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@@ -132,7 +132,10 @@ class CarController(CarControllerBase):
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
# params_memory = Params("/dev/shm/params")
# if params_memory.get_bool("CPTLkasButtonAction"):
if params_memory.get_bool("CPTLkasButtonAction"):
if self.frame % 10 == 0:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.SET_DECEL))
# can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
# can_sends.append(hyundaicanfd.create_acc_set_speed(self.packer, self.CP, self.CAN, CS.cruise_info, 50))
# can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
@@ -197,7 +200,6 @@ class CarController(CarControllerBase):
can_sends = []
if use_clu11:
if CC.cruiseControl.cancel:
print("Cancel button go")
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
CS.lkas_trigger_result = 5
elif CC.cruiseControl.resume:
@@ -210,17 +212,18 @@ class CarController(CarControllerBase):
else:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
params_memory = Params("/dev/shm/params")
if params_memory.get_bool("CPTLkasButtonAction"):
params_memory.put_bool("CPTLkasButtonAction", False)
CC.cruiseControl.cancel = True
print("Debug cancel executed")
# if params_memory.get_bool("CPTLkasButtonAction"):
# params_memory.put_bool("CPTLkasButtonAction", False)
# CC.cruiseControl.cancel = True
# print("Debug cancel executed")
# cruise cancel
if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
# pass
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
# can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
print("Yes2")
# can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
print("Try Cancel Button Alt")
self.last_button_frame = self.frame
CS.lkas_trigger_result = 1
else: