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2024-05-03 23:24:41 -05:00
parent c41f9a7c5b
commit 8a6926faf3
4 changed files with 21 additions and 8 deletions
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11
selfdrive/car/hyundai/carcontroller.py
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@@ -9,6 +9,8 @@ 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
import sys
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -120,10 +122,12 @@ class CarController(CarControllerBase):
self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
# LFA and HDA icons
if self.frame % 5 == 0 and (not hda2 or hda2_long):
# if self.frame % 5 == 0 and (not hda2 or hda2_long):
# CLEARPILOT TEST self.CS.lkas_enabled
# can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive))
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CS.lkas_enabled, CS.lkas_enabled))
# can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CS.lkas_enabled, CS.lkas_enabled))
# blinkers
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
@@ -178,6 +182,9 @@ class CarController(CarControllerBase):
def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool):
can_sends = []
sys.stderr.write(str({'use_clu11': use_clu11}) + '\n')
if use_clu11:
if CC.cruiseControl.cancel:
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))