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2024-05-18 03:50:40 -05:00
parent d6a5bd4c56
commit 3cbaf1253a
2 changed files with 36 additions and 3 deletions
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7
selfdrive/car/hyundai/carcontroller.py
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@@ -134,8 +134,8 @@ class CarController(CarControllerBase):
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_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
50, hud_control))
can_sends.append(hyundaicanfd.create_acc_set_speed(self.packer, 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")
if self.CP.openpilotLongitudinalControl:
@@ -218,7 +218,8 @@ class CarController(CarControllerBase):
if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
# pass
can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
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")
self.last_button_frame = self.frame
CS.lkas_trigger_result = 1