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2024-05-04 04:03:41 -05:00
parent 6732045f8f
commit 8174cf8c2e
1 changed files with 7 additions and 4 deletions
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11
selfdrive/car/hyundai/hyundaicanfd.py
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@@ -23,9 +23,6 @@ class CanBus(CanBusBase):
self._e += self.offset self._e += self.offset
self._cam = 2 + self.offset self._cam = 2 + self.offset
self.params = Params()
self.params_memory = Params("/dev/shm/params")
@property @property
def ECAN(self): def ECAN(self):
return self._e return self._e
@@ -130,13 +127,19 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
# CLEARPILOT changed HDA icons # CLEARPILOT changed HDA icons
# This doesn't appear to do anything on my tucson # This doesn't appear to do anything on my tucson
def create_lfahda_cluster(packer, CAN, enabled, lat_active): 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 = { values = {
# 0 off, 1 gray, 2 green, 3 blinking (wheel icon) # 0 off, 1 gray, 2 green, 3 blinking (wheel icon)
# CP: Is this actually the wheel? Might this be the HDA2 thing? # CP: Is this actually the wheel? Might this be the HDA2 thing?
"HDA_ICON": 0, # Intention is to have this represent stock HDA mode "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, "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) return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)