wip

selfdrive/car/hyundai/hyundaicanfd.py

@@ -41,7 +41,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
 
   values = {
     "LKA_MODE": 2,  # CP: Whats this?
-    "LKA_ICON": 2 if lat_active else 1, # CP: Whats this?
+    "LKA_ICON": 2 if enabled else 1 if lat_active else 0, # CP: Whats this?
     "TORQUE_REQUEST": apply_steer,
     "LKA_ASSIST": 0,
     "STEER_REQ": 1 if lat_active else 0,
@@ -114,12 +114,13 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
 # CLEARPILOT changed HDA icons
+# This doesn't appear to do anything on my tucson
 def create_lfahda_cluster(packer, CAN, enabled, lat_active):
   values = {
     # 0 off, 1 gray, 2 green, 3 blinking (wheel icon)
     # CP: Is this actually the wheel?  Might this be the HDA2 thing?
     "HDA_ICON": 0,  # Intention is to have this represent stock HDA mode
-    "LFA_ICON": 2 if enabled else 1 if lat_active else 0,  
+    "LFA_ICON": 2 if enabled else 1 if lat_active else 0,   
   }
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 

system/qcomgpsd/nmeaport.py

@@ -93,7 +93,7 @@ def nmea_checksum_ok(s):
 def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
   while True:
     try:
-      with open(device, "r") as nmeaport:
+      with open(device) as nmeaport:
         for line in nmeaport:
           line = line.strip()
           if DEBUG: