From 103a1624d92fd5fb084b66b60afa0218e785dc0e Mon Sep 17 00:00:00 2001 From: Your Name Date: Sat, 18 May 2024 03:59:54 -0500 Subject: [PATCH] wip --- selfdrive/car/hyundai/carcontroller.py | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index b464a6f..8d42ac9 100755 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -131,12 +131,12 @@ class CarController(CarControllerBase): if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: 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"): + # params_memory = Params("/dev/shm/params") + # if params_memory.get_bool("CPTLkasButtonAction"): # 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_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)) - print("Debug cancel executed") + # print("Debug cancel executed") if self.CP.openpilotLongitudinalControl: if hda2: @@ -209,11 +209,11 @@ class CarController(CarControllerBase): self.last_button_frame = self.frame 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") + 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") # cruise cancel if CC.cruiseControl.cancel: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: