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: