From 8174cf8c2e893136f3ce44642af0a3b45e32faf2 Mon Sep 17 00:00:00 2001 From: Your Name Date: Sat, 4 May 2024 04:03:41 -0500 Subject: [PATCH] wip --- selfdrive/car/hyundai/hyundaicanfd.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 5b3cfd6..ba1d352 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -23,9 +23,6 @@ class CanBus(CanBusBase): self._e += self.offset self._cam = 2 + self.offset - self.params = Params() - self.params_memory = Params("/dev/shm/params") - @property def ECAN(self): return self._e @@ -130,13 +127,19 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy): # CLEARPILOT changed HDA icons # This doesn't appear to do anything on my tucson def create_lfahda_cluster(packer, CAN, enabled, lat_active): - no_lat_lane_change = self.params_memory.get_int("no_lat_lane_change", 1) + + # Im sure there is a better way to do this + params = Params() + params_memory = Params("/dev/shm/params") + no_lat_lane_change = params_memory.get_int("no_lat_lane_change", 1) + values = { # 0 off, 1 gray, 2 green, 3 blinking (wheel icon) # CP: Is this actually the wheel? Might this be the HDA2 thing? "HDA_ICON": 0, # Intention is to have this represent stock HDA mode "LFA_ICON": 0 if no_lat_lane_change else 2 if enabled else 1 if lat_active else 0, } + return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)