wip

selfdrive/car/hyundai/carcontroller.py

@@ -213,6 +213,7 @@ class CarController(CarControllerBase):
         elif CC.cruiseControl.resume:
           if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
             # TODO: resume for alt button cars
+            print (CS.cruise_can_msg)
             CS.lkas_trigger_result = 3
             pass
           else:

selfdrive/car/hyundai/carstate.py

@@ -273,6 +273,8 @@ class CarState(CarStateBase):
     if self.CP.flags & HyundaiFlags.EV:
       ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
 
+    self.cruise_can_msg = copy.copy(cp.vl_all[self.cruise_btns_msg_canfd])
+
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
     self.prev_main_buttons = self.main_buttons[-1]

selfdrive/car/hyundai/interface.py

@@ -161,11 +161,12 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c, frogpilot_variables):
     ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
-    if self.CS.CP.openpilotLongitudinalControl:
-      ret.buttonEvents = [
-        *create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT),
-        *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
-      ]
+    # todo: this check probably needs to be removed on other cars
+    # if self.CS.CP.openpilotLongitudinalControl:
+    ret.buttonEvents = [
+      *create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
 
     # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
     # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons

selfdrive/controls/controlsd.py

@@ -245,7 +245,7 @@ class Controls:
     # Compute actuators (runs PID loops and lateral MPC)
     CC, lac_log = self.state_control(CS)
     CC = self.clearpilot_state_control(CC, CS)
-    
+
     # Publish data
     self.publish_logs(CS, start_time, CC, lac_log)
 
@@ -302,7 +302,7 @@ class Controls:
       self.mismatch_counter += 1
 
     return CS
-  
+
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
@@ -393,7 +393,7 @@ class Controls:
     # CLEARPILOT TODO: Make this a toggle
     # Clearpilot abstract this into a behavior
     NoLaneChange = False
-    if not NoLaneChange:    
+    if not NoLaneChange:
       if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
         direction = self.sm['modelV2'].meta.laneChangeDirection
         if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
@@ -1233,15 +1233,11 @@ class Controls:
     if (len(CS.buttonEvents) > 0):
       print (CS.buttonEvents)
     if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
-      exit() # Just cause a crash for testing
       self.events.add(EventName.clpDebug)
-      # clearpilot_notice(CP_NOTICE_DEBUG, "LKAS Debug Action Invoked")
-      foo = "bar"
-
 
   def clearpilot_state_control(self, CC, CS):
-    foo = "bar"
-
+    if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
+      CC.cruiseControl.resume = True
     return CC
 
 def main():