wip

notes

@@ -24,3 +24,12 @@ Interesting can messages
 
  SG_ C_SunRoofOpenState
  CR_Datc_DrTempDispF 
+
+ 2-9 test notes
+
+- Only the icon with the lane lines is showing after recent lkas mods - can we show amber?
+- pressing lkas distance does in fact cancel cruise, if only for a second.  that means that it response to the cancel button - and possibly resume too?
+- test: set cluster speed directly
+- test: simulate down button on wheel
+- we should put a splash screen of the pacman ghost over the main startup display, and only reveal the interface when we tap on it
+- Fix: read speed limit from car computer, flicker LKAS button when it is out of range

selfdrive/car/hyundai/carcontroller.py

@@ -197,9 +197,9 @@ class CarController:
     #       else:
     #         can_sends.extend([hyundaican.create_clu11(self.packer, (self.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP.carFingerprint)] * 25)
 
-    # Test
+    # Test - Works???
-    if CS.cruise_buttons == Buttons.NONE and CS.cruiseState.enabled:
+    # if CS.cruise_buttons == Buttons.NONE and CS.cruiseState.enabled:
-      can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, ((self.frame // 2) + 1) % 0x10, Buttons.SET_DECEL))
+      # can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, ((self.frame // 2) + 1) % 0x10, Buttons.SET_DECEL))
 
     new_actuators = actuators.copy()
     new_actuators.steer = apply_steer / self.params.STEER_MAX
@@ -237,10 +237,13 @@ class CarController:
         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...
-          # ?? can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
+          # Also try create_acc_commands
-                                                  # set_speed_in_units, CS.personality_profile))
+          # This attempts to set the speed to
+          stopping = CC.actuators.longControlState == LongCtrlState.stopping
+          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, CC.actuators.accel, stopping, CC.cruiseControl.override,
+            40, CS.personality_profile))
           
         # cruise cancel
         if CC.cruiseControl.cancel:

selfdrive/car/hyundai/carstate.py

@@ -309,15 +309,18 @@ class CarState(CarStateBase):
       if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
         self.oscar_lane_center_btn_pressed = True
 
+      lkas_pressed = False
+      try:
+        lkas_pressed = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
+      except:
+        nothing = 0
+
+      # intentionally cause a failure
+      if lkas_pressed:
+          floog=norpdywoop
       # if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
       #   self.oscar_lane_center_btn_pressed= True
 
-      # lkas_pressed = cp.vl_all[self.cruise_btns_msg_canfd]["LKAS_BTN"]
-      # if lkas_pressed and not self.lkas_previously_pressed:
-      #   self.custom_speed_up = True
-      # self.lkas_previously_pressed = lkas_pressed
-
-
     # Driving personalities function
     # if self.personalities_via_wheel and ret.cruiseState.available:
     #   # Sync with the onroad UI button

selfdrive/car/hyundai/hyundaicanfd.py

@@ -116,7 +116,7 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
 def create_lfahda_cluster(packer, CAN, enabled):
   values = {
     "HDA_ICON": 1 if enabled else 0,
-    "LFA_ICON": 0 if enabled else 0,
+    "LFA_ICON": 3 if enabled else 0,  # was green before i think in 2?  3 should be flashing?
     # "LFA_ICON": 2 if enabled else 0,
   }
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)