From 1847dc78e3f1ea7d57ccc81211d84f42859811d2 Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Mon, 29 Apr 2024 19:40:22 -0500
Subject: [PATCH] wip

---
 panda/board/safety/safety_hyundai.h       | 11 ++++++++---
 panda/board/safety/safety_hyundai_canfd.h |  1 +
 selfdrive/car/hyundai/carstate.py         | 10 +++++++++-
 3 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/panda/board/safety/safety_hyundai.h b/panda/board/safety/safety_hyundai.h
index a849a87..49565b9 100644
--- a/panda/board/safety/safety_hyundai.h
+++ b/panda/board/safety/safety_hyundai.h
@@ -283,9 +283,14 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
   if ((addr == 0x4F1) && !hyundai_longitudinal) {
     int button = GET_BYTE(to_send, 0) & 0x7U;
 
-    bool allowed_resume = (button == 1) && controls_allowed;
-    bool allowed_cancel = (button == 4) && cruise_engaged_prev;
-    if (!(allowed_resume || allowed_cancel)) {
+    // bool allowed_resume = (button == 1) && controls_allowed;
+    // bool allowed_cancel = (button == 4) && cruise_engaged_prev;
+    // if (!(allowed_resume || allowed_cancel)) {
+      // tx = false;
+    // }
+    
+    // CLEARPILOT - Allow buttons 1 (accel), 2 (decel), 4 (pause/resume)
+    if (!(button == 1 || button == 2 || button == 3)) {
       tx = false;
     }
   }
diff --git a/panda/board/safety/safety_hyundai_canfd.h b/panda/board/safety/safety_hyundai_canfd.h
index fb6ccf5..5e9e140 100644
--- a/panda/board/safety/safety_hyundai_canfd.h
+++ b/panda/board/safety/safety_hyundai_canfd.h
@@ -243,6 +243,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
   }
 
   // cruise buttons check
+  // CLEARPILOT - TODO - Allow buttons 1 (accel), 2 (decel), 4 (pause/resume)
   if (addr == 0x1cf) {
     int button = GET_BYTE(to_send, 2) & 0x7U;
     bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 708bced..0e892b6 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -278,7 +278,15 @@ class CarState(CarStateBase):
     self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0
 
     self.lkas_previously_enabled = self.lkas_enabled
-    self.lkas_enabled = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
+    
+    # CLEARPILOT fix
+    lkas_enabled = False
+    try:
+      lkas_enabled = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
+    except:
+      nothing = 0
+
+    self.lkas_enabled = lkas_enabled
 
     self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)