wip

selfdrive/car/hyundai/carcontroller.py

@@ -9,8 +9,6 @@ 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
 
@@ -122,12 +120,10 @@ 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:
@@ -182,10 +178,6 @@ class CarController(CarControllerBase):
 
   def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool):
     can_sends = []
-    
-    # False
-    # 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))
@@ -209,10 +201,9 @@ class CarController(CarControllerBase):
             self.last_button_frame = self.frame
 
         # cruise standstill resume
-        elif CC.cruiseControl.resume or CS.lkas_enabled:
+        elif CC.cruiseControl.resume:
           if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
             # TODO: resume for alt button cars
-            sys.stderr.write(str({'canfdalt': True}) + '\n')
             pass
           else:
             for _ in range(20):

selfdrive/car/hyundai/carstate.py

@@ -297,7 +297,6 @@ class CarState(CarStateBase):
     # new lane change works perfect
     # need to auto disable lat on turn lower than 20 + turn signal as default
 
-
     self.lkas_enabled = lkas_enabled
 
     self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)