wip

selfdrive/car/hyundai/carcontroller.py

@@ -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

selfdrive/car/hyundai/hyundaicanfd.py

@@ -99,6 +99,38 @@ def create_buttons_alt(packer, CP, CAN, cnt, btn):
   bus = CAN.ECAN # if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
   return packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, values)
 
+
+def create_acc_set_speed(packer, CP, CAN, cruise_info_copy, speed):
+  # why are we executing this at all?
+  # TODO: why do we copy different values here?
+  if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
+    values = {s: cruise_info_copy[s] for s in [
+      "COUNTER",
+      "CHECKSUM",
+      "NEW_SIGNAL_1",
+      "MainMode_ACC",
+      "ACCMode",
+      "ZEROS_9",
+      "CRUISE_STANDSTILL",
+      "ZEROS_5",
+      "DISTANCE_SETTING",
+      "VSetDis",
+    ]}
+  else:
+    values = {s: cruise_info_copy[s] for s in [
+      "COUNTER",
+      "CHECKSUM",
+      "ACCMode",
+      "VSetDis",
+      "CRUISE_STANDSTILL",
+    ]}
+  values.update({
+    "ACCMode": 1, # testing 1 instead of 4
+    "VSetDis", speed
+  })
+  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
+
+
 def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
   # why are we executing this at all?
   # TODO: why do we copy different values here?