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2024-02-09 16:29:56 -06:00
parent be628a964e
commit 4948aecc6e
2 changed files with 6 additions and 3 deletions
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8
selfdrive/car/hyundai/carcontroller.py
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@@ -135,6 +135,8 @@ class CarController:
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker)) can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
# can_sends.append(hyundaicanfd.create_misc_messages(self.packer, self.CAN, self.frame))
if self.CP.openpilotLongitudinalControl: if self.CP.openpilotLongitudinalControl:
if hda2: if hda2:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame)) can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
@@ -210,7 +212,6 @@ class CarController:
def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool): def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool):
can_sends = [] can_sends = []
# Test me. # Test me.
# can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, 1, Buttons.RES_ACCEL)) # can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, 1, Buttons.RES_ACCEL))
# if self.CP.openpilotLongitudinalControl: # if self.CP.openpilotLongitudinalControl:
@@ -234,9 +235,12 @@ class CarController:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
if CS.oscar_lane_center_btn_pressed: if CS.oscar_lane_center_btn_pressed:
CS.oscar_lane_center_btn_pressed= False CS.oscar_lane_center_btn_pressed = False
# CC.cruiseControl.resume = True # CC.cruiseControl.resume = True
CC.cruiseControl.cancel = True CC.cruiseControl.cancel = True
# Test this...
# ?? can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
# set_speed_in_units, CS.personality_profile))
# cruise cancel # cruise cancel
if CC.cruiseControl.cancel: if CC.cruiseControl.cancel:

1
selfdrive/car/hyundai/hyundaicanfd.py
View File

@@ -152,7 +152,6 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values) return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
def create_spas_messages(packer, CAN, frame, left_blink, right_blink): def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
ret = [] ret = []