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2024-02-09 10:13:44 -06:00
parent 52c28f6710
commit be628a964e
1 changed files with 7 additions and 4 deletions
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11
selfdrive/car/hyundai/carcontroller.py
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@@ -210,10 +210,7 @@ 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 = []
if CS.oscar_lane_center_btn_pressed:
CS.oscar_lane_center_btn_pressed= False
CC.cruiseControl.resume = True
floog = floorp
# 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:
@@ -235,6 +232,12 @@ class CarController:
self.last_button_frame = self.frame self.last_button_frame = self.frame
else: else:
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:
CS.oscar_lane_center_btn_pressed= False
# CC.cruiseControl.resume = True
CC.cruiseControl.cancel = True
# cruise cancel # cruise cancel
if CC.cruiseControl.cancel: if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: