From a380603637bd99bcfd2f2cf4bed9020804b422de Mon Sep 17 00:00:00 2001
From: concordia <concordia>
Date: Mon, 12 Feb 2024 18:11:57 -0600
Subject: [PATCH] wip

---
 common/params.cc                       | 1 +
 selfdrive/car/hyundai/carcontroller.py | 7 +++++--
 selfdrive/car/hyundai/carstate.py      | 2 ++
 selfdrive/ui/qt/onroad.cc              | 3 ++-
 4 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index fe5951c..79e4008 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -331,6 +331,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ReverseCruise", PERSISTENT},
     {"RoadEdgesWidth", PERSISTENT},
     {"RoadName", PERSISTENT},
+    {"oscar_debug", PERSISTENT},
     {"RoadNameUI", PERSISTENT},
     {"RotatingWheel", PERSISTENT},
     {"SchedulePending", PERSISTENT},
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 541ca40..f21fa41 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -60,6 +60,7 @@ class CarController:
     self.car_fingerprint = CP.carFingerprint
     self.last_button_frame = 0
     self.last_resume_frame = 0
+    self.last_debug_frame = 0
 
   def update(self, CC, CS, now_nanos, sport_plus):
     actuators = CC.actuators
@@ -234,11 +235,13 @@ class CarController:
             self.last_button_frame = self.frame
     else:
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
-      
+        # if (self.frame - self.last_button_frame) * DT_CTRL > 3:
+        # if self.last_resume_frame = self.frame
+
         if CS.oscar_lane_center_btn_pressed:
           CS.oscar_lane_center_btn_pressed = False
           # CC.cruiseControl.resume = True
-          # CC.cruiseControl.cancel = True 
+          CC.cruiseControl.cancel = True 
           # Test this...
           # Also try create_acc_commands
           # This attempts to set the speed to
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 377ab64..928dddb 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -173,6 +173,8 @@ class CarState(CarStateBase):
     self.oscar_slc_decel = False
     self.oscar_slc_accel = False
 
+    self.param_memory.put("oscar_debug", "Hello World")
+
     # if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
     #   self.oscar_lane_center_btn_pressed= True
 
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index bab606e..2225858 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -1592,7 +1592,8 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
   p.setOpacity(1.0);
   p.drawRoundedRect(statusBarRect, 30, 30);
 
-  QString roadName = roadNameUI ? QString::fromStdString(paramsMemory.get("RoadName")) : QString();
+  // QString roadName = roadNameUI ? QString::fromStdString(paramsMemory.get("RoadName")) : QString();
+  QString roadName = roadNameUI ? QString::fromStdString(paramsMemory.get("oscar_debug")) : QString();
 
   QMap<int, QString> conditionalStatusMap = {
     {0, "Conditional Experimental Mode ready"},