wip

selfdrive/car/hyundai/carcontroller.py

@@ -186,6 +186,7 @@ class CarController(CarControllerBase):
     if use_clu11:
       if CC.cruiseControl.cancel:
         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:
         # send resume at a max freq of 10Hz
         if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
@@ -200,20 +201,24 @@ class CarController(CarControllerBase):
           if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
             can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
             self.last_button_frame = self.frame
+            CS.lkas_trigger_result = 1
           else:
             for _ in range(20):
               can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
             self.last_button_frame = self.frame
+            CS.lkas_trigger_result = 2
 
         # cruise standstill resume
         # elif CC.cruiseControl.resume:
-        elif CC.cruiseControl.resume or CS.lkas_enabled:
+        elif CC.cruiseControl.resume:
           if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
             # TODO: resume for alt button cars
+            CS.lkas_trigger_result = 3
             pass
           else:
             for _ in range(20):
               can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
             self.last_button_frame = self.frame
+            CS.lkas_trigger_result = 4
 
     return can_sends

selfdrive/car/hyundai/carstate.py

@@ -63,6 +63,7 @@ class CarState(CarStateBase):
     self.fix_main_enabled_executed = False
     self.fix_main_enabled_cancel_main = False
     self.lkas_was_pressed = False
+    self.lkas_trigger_result = None
 
   def calculate_speed_limit(self, cp, cp_cam):
     if self.CP.carFingerprint in CANFD_CAR:
@@ -318,6 +319,7 @@ class CarState(CarStateBase):
     print({"self.lkas_enabled": self.lkas_enabled}, sys.stderr)
     print({"lkas_enabled": lkas_enabled}, sys.stderr)
     print({"lkas_was_pressed": self.lkas_was_pressed}, sys.stderr)
+    print({"lkas_trigger_result": self.lkas_trigger_result}, sys.stderr)
     # notes on self:
     # lkas_enabled = 1 = lkas button has been pressed
     # prev_cruise_buttons = 0 (none), 1, 2 - up down
@@ -326,6 +328,7 @@ class CarState(CarStateBase):
     # ret: cruiseState.speed > 0 = and cruiseState.enabled = false = idle cruise.
     # press cruise to cancel it if not op engaged
 
+
     self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)
 
     return ret