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