wip

selfdrive/car/hyundai/carcontroller.py

@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-
+from openpilot.common.params import Params
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
@@ -182,10 +182,18 @@ class CarController(CarControllerBase):
     return new_actuators, can_sends
 
   def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool):
+    # hax
+    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")
+    
     can_sends = []
     if use_clu11:
       if CC.cruiseControl.cancel:
-        print("Cancel executed")
+        print("Yes")
         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:

selfdrive/controls/controlsd.py

@@ -1238,7 +1238,7 @@ class Controls:
   def clearpilot_state_control(self, CC, CS):
     if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
       # CC.cruiseControl.resume = True
-      CC.cruiseControl.cancel = True
+      self.params_memory.put_bool("CPTLkasButtonAction", True)
     self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
     # CC.actuators.speed
     # print ("Alive")

selfdrive/ui/ui.cc

@@ -117,13 +117,11 @@ void update_model(UIState *s,
   // update path
   float path;
   if (paramsMemory.getInt("no_lat_lane_change")) {
-    path = LANE_CHANGE_NO_LAT_PATH_WIDTH;
+    path = LANE_CHANGE_NO_LAT_PATH_WIDTH / 20;  // Release: better calc for EU users
   } else {
-    path = CENTER_LANE_WIDTH;
+    path = CENTER_LANE_WIDTH / 20; // Release: better calc for EU users
   }
 
-  path = 0.7;
-
   auto lead_count = model.getLeadsV3().size();
   if (lead_count > 0) {
     auto lead_one = model.getLeadsV3()[0];